MOBILE ROBOT AND METHOD FOR CONTROLLING BEHAVIOR OF MOBILE ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a mobile robot and a method for controlling the behavior of the mobile robot for suppressing such possibility that the mobile robot is found out when approached by an armed group, and for making it possible for the mobile robot to make a movement following that site when using the mobile robot for information collecting action in a hazard zone where the armed group lies hidden.;SOLUTION: This mobile robot is provided with: a driving part 2; a self-location measuring part 3; an external world measuring part 4 for measuring the location of a shielded object existing from the self-location to a target; and a control part 5 for creating a local map on which the target is reflected based on the self-location data and the environment data, and the control part 5 makes shielded objects A and B approximate to polygons on the local map, and ray traces from a target T to the plurality of vertexes of the approximating polygons A1 and B1 of the shielded objects to set shielding regions A2 and B2 by the approximation polygons A1 and B1, and calculates the exposure rate of a stereoscopic self-model to the shielding regions A2 and B2, and determines a moving route and a behavior pattern with the low exposure rate, and outputs an instruction signal to the driving part 2.;COPYRIGHT: (C)2009,JPO&INPIT