Autonomous traveler and travel control method i'hereof
View Patent ↗An autonomous traveler 1 includes an information acquisition part 11 , a map storage part 12 and a travel control part 7 . The information acquisition part 11 acquires information on a traveling area. The map storage part 12 creates and stores a base map, by determining the traveling area on the basis of the information acquired by the information acquisition part 11 at a predetermined timing. The travel control part 7 controls traveling on the basis of a map stored in the map storage part 12 . The travel control part 7 controls the traveling on the basis of the base map, even when a traveling obstacle stored in the base map is removed.
1. An autonomous traveler capable of traveling autonomously, the autonomous traveler comprising:
an information acquisition part configured to acquire information on a traveling area;
a map storage part configured to determine the traveling area by recognizing an arrangement of a traveling obstacle on a basis of the information acquired by the information acquisition part at a predetermined timing, and create and store a base map showing the trawling area; and
a travel control part configured to control traveling on a basis of a map stored in the map storage part, wherein
the map storage part adds or deletes additional map information in the base map in accordance with presence or absence of a traveling obstacle not present on the base map, on a basis of the information acquired by the information acquisition part, wherein
the travel control part controls the traveling on a basis of the base map and the additional map information so as to avoid the traveling obstacle, even when the traveling obstacle stored in the base map is removed from the traveling area.
2. The autonomous traveler according to claim 1 , wherein
when a new traveling obstacle not present on the base map in the traveling area is detected a predetermined number of times or more, on a basis of the information acquired by the information acquisition part, the map storage part stores the new traveling obstacle as additional map information in the base map.
3. The autonomous traveler according to claim 1 , wherein
the map storage part deletes the additional map information corresponding to the traveling obstacle having a detection frequency equal to or less than a predetermined value, from the base map.
4. A travel control method for an autonomous traveler capable of traveling autonomously, the autonomous traveler comprising an information acquisition part, a map storage part and a travel control part, the travel control method comprising:
an information acquiring for acquiring information on a traveling area by the information acquisition part;
a storing for determining the traveling area by recognizing an arrangement of a traveling obstacle on a basis of the information on a traveling area acquired by the information acquisition part at a predetermined timing, and creating a base map showing the traveling area and storing the base map showing the traveling area in the map storage part; and
a traveling for controlling traveling by the travel control part, on a basis of a map stored in the map storage part, wherein
in the storing, the map storage part adds or deletes additional map information in the base map in accordance with presence or absence of a traveling obstacle not present on the base map, on a basis of the information acquired by the information acquisition part,
in the traveling, the travel control part controls the traveling on a basis of the base map and the additional map information so as to avoid the traveling obstacle, even when the traveling obstacle stored in the base map is removed from the traveling area.
5. The travel control method for the autonomous traveler according to claim 4 , wherein
in the storing, when a new traveling obstacle not present on the base map in the traveling area is detected a predetermined number of times or more, the map storage part stores the new traveling obstacle as additional map information in the base map.
6. The travel control method for the autonomous traveler according to claim 4 , wherein
in the storing, the map storage part deletes the additional map information corresponding to the traveling obstacle having a detection frequency equal to or less than a predetermined value, from the base map.