To autonomously avoid a collision at a junction regardless of the existence of a traffic signal, a sign or a pedestrian crossing when moving in a region where there is an unmeasurable region (a dead angle) due to a wall or the like and an unknown moving obstacle may unexpectedly jump out without complicating or enlarging an apparatus composition in an autonomous mobile apparatus.
The autonomous mobile apparatus includes a sensor 3 which is mounted on an unmanned vehicle 1 for measuring the existence of a fixed obstacle in the surrounding and the mobile obstacle and a control means 2 for moving an unmanned vehicle 1 inside a moving permitted region 103 by detecting a moving permitted region 103 without any fixed obstacle 102 based on the measured result by the sensor 3 as well as avoiding a collision with the moving obstacle 101 by detecting the moving obstacle 101. In this case, a boundary 105 where an unmeasured region 104 due to the obstacles 101 and 102 and the moving permitted region 103 contact is detected and when a distance between this boundary 105 and a movement planned path 106 is less than a prescribed distance, an unmanned vehicle 1 is made to reduce speed or stop until a distance between the boundary 105 and the movement planned path 106 is a prescribed distance or more.
COPYRIGHT: (C)2010,JPO&INPIT
IHI Aerospace Co., Ltd.
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Iwa Saki Kokuni
Kawamata Sumio
Masakazu Ito
Shunichi Takahashi
Toshio Takamatsu
Next Patent: JPS5160312