| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile object controller which can be applied even to a circularly turning mobile object and also can move the mobile object while evading the faults in real time and with high fault evading performance that is geometrically assured. SOLUTION: A processing means 14 compares the information on a path pattern having plural paths where a mobile object stored in a storage means 12 can move with the information on the faults of a mobile object that is detected by a detection means 13. In other words, a map where the data on each path of the path pattern passing through each of plural divided cells is written on the cell is compared with the information on the faults. Then the paths that can evade the faults are extracted and a path that has the best follow-up to the set route stored in the means 12 is selected from among the extraction paths. An instruction is given to a drive control means 16 to move the mobile object along the selected path.
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