AUTONOMOUS MOBILE DEVICE
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Abstract
An autonomous mobile device that moves while autonomously avoiding zones into which entry should be avoided even if no obstacle exists therein includes a laser range finder that acquires peripheral obstacle information, a storage unit that stores an environment map that shows an obstacle zone where an obstacle exists, and a no-entry zone map which shows a no-entry zone into which entry is prohibited, a self-location estimation unit that estimates the self-location of a host device by using the obstacle information acquired by the laser range finder and the environment map, and a travel control unit that controls the host device to autonomously travel to the destination by avoiding the obstacle zone and the no-entry zone based on the estimated self-location, the environment map, and the no-entry zone map.
50 Citations
26 Claims
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1-13. -13. (canceled)
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14. An autonomous mobile device, comprising:
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an obstacle sensor that acquires peripheral obstacle information; a storage device that stores an environment map showing an obstacle zone where an obstacle exists, and a no-entry zone map showing a no-entry zone into which entry is prohibited; an estimation device that estimates a self-location of the mobile device by using obstacle information acquired by the obstacle sensor and the environment map; and a controller arranged and programmed to control autonomous movement based on the self-location estimated by the estimation device, the environment map, and the no-entry zone map. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification