SELF-CONTROLLING MOVEMENT DEVICE HAVING OBSTACLE AVOIDANCE FUNCTION

摘要

PURPOSE: An autonomous moving apparatus having obstacle avoidance function is provided to detect a specific obstacle based on the scan information by accurately knowing about position information. CONSTITUTION: The autonomous moving apparatus(1) includes a traveling device(2) capable of traveling and steering, a travel controller(3) for controlling the traveling device(2), a scan-type sensor(4) (hereinafter called radar device)(4) comprised of a radar etc. for scanning a horizontal plane in a traveling direction of the traveling device(2) to thereby detect an obstacle. The autonomous moving apparatus(1) further includes a non-scan-type sensor(5) (hereinafter called obstacle sensor) comprised of a supersonic or infrared sensor for detecting an obstacle in a space different from the scanning plane of the radar device(4), a specific-obstacle detecting element(6), an obstacle detecting element(7), and a memory(8).