Obstacle-detection mapping method for unmanned vehicle and obstacle detection apparatus

摘要

A mapping method by which an obstacle is detected without an increase of the computing load of a controller and deterioration of precision. A region including a travel course (6) is divided into a large number of areas with straight lines parallel to the coordinate axes x, y at predetermined intervals. The areas through which the travel course (6) passes are stored. When the area where a detected obstacle (2) is positioned coincides with at least one of the stored passage areas at the time of automatic travelling, the obstacle is judged to be present on the travel course (6).