| 摘要 |
PURPOSE: To form a peripheral map of the cellular structure for a movable unit which can perform self movement by incrementing the occupation degree of a cell on an arc part of a circle having a sensor as the center and the distance to the peripheral object as a radius. CONSTITUTION: A position of a peripheral object is assumed to be an unspecified position on the arc part of a circle using a sensor as the center and the distance to the peripheral object as a radius. The occupation degree of a cell on the arc part is incremented in the positive direction. A cell in the interior of a fan-shaped portion defined by the arc part is incremented in the negative direction. For example, in an opening conical robe possessing an angleϕin the wave front of a sensor S, three cells Z1-Z3 of a peripheral map of a cellular structure are cut out from the arc part. The cell Z1 is incremented by +1. An increment +3 is given to the cell Z2 on a beam vertically emitted to the sensor surface. An increment +1 is given to the cell Z3 similarly.
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