Movement control device with the obstacle avoidance function

摘要

PROBLEM TO BE SOLVED: To provide a control device which allows a robust moving operation resistant to noise such as a dynamic change of environment while reducing the calculation load and ensuring smooth movement.;SOLUTION: The movement control device 13 having an obstacle avoiding function includes: a mobile body 1; detection means 14-17 provided on the mobile body 1 for detecting advancing direction of a mobile body; measuring means 9-12 provided on the mobile body 1 for measuring the position of an obstacle and an actual measurement distance to the obstacle, and outputting an azimuth angle of the obstacle to the mobile body advancing direction detected by the detection means 14-17; a pseudo distance generation means which changes the actual measurement distance according to the magnitude of the azimuth angle of the obstacle output by the measuring means 9-12 to generate a pseudo distance; and a control means which controls, based on the pseudo distance generated by the pseudo distance generation means, the motion of the mobile body 1 so that the mobile body 1 avoids the obstacle.;COPYRIGHT: (C)2010,JPO&INPIT