| 摘要 |
PURPOSE:To execute an autonomous guidance of a moving body with a high reliability by selecting a forecasting pattern of a constituent in accordance with a selecting sequence rule which has been inputted by an input device, when a collation of a forecasting pattern and a feature pattern is impossible. CONSTITUTION:A mobile robot 1 is provided with a running device 1A, and controlled by a movement control device 2 having a pattern collating means 20 and operating means 22, 21 of a working force, etc. A television camera 4 is installed to this robot 1, a photographing image of an ambient environment is displayed on a display device 5, and also its feature pattern is detected by a feature between detecting means 6. In this case, the first storage means 7, the second storage means 8 having storage means 9, 10 of a constituent and a constituent element, and a forecasting pattern generating means 12 are provided. In this state, before starting a guidance, a forecasting pattern is derived from a list of the constituent, etc., and it is collated 20 with said feature pattern. Also, when the collation is unsuitable, a forecasting pattern of other constituent is generated and collated 20, and the robot is brought to a guidance control to a target spot by deriving a guidance signal.
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