A free moving robot vehicle begins at a start point (S) with the aim of moving to a target (Z). The controller has a built-in strategy operating if an obstacle is encountered (H). The object is detected by some form of non-contact proximity device, e.g. ultrasonic or laser, and, as a first stage, the vehicle retracts and moves in a second attempt. After further detection of the boundary a further move is made with the vehicle following the boundary of the obstacle until it is in a position to proceed to the target.
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