| 摘要 |
<p>PROBLEM TO BE SOLVED: To make it possible to detect an obstacle without placing the arithmetic load of a controller on a computer and also perform the obstacle detection without lowering the detection precision. SOLUTION: A travel road surface is divided into many squares at every specific distance by straight lines parallel to coordinate axes (x) and (y), squares where a travel course 6 passes through are stored, and when this device decides that an obstacle is present on the travel course 6 when a square where an obstacle detected during the automatic travel of the unmanned vehicle along the travel course 6 is present matches one of the stored squares, the respective squares of a square map for obstacle detection corresponding to a curve section of the travel course 6 is divided smaller than the squares in a straight section if the travel course 6 is curved.</p> |
