JP2644868B

PURPOSE:To execute a continuous movement at a high speed and smoothly without stopping expressly a moving robot in order to recognize the environment by inputting information of an external sensor to an object recognizing means and a collating means. CONSTITUTION:Information of an external sensor 1 is inputted to an object recognizing means 2 and a collating means 3. Also, a result of object recognition being an output of the means 2 is written in an adjacent area map 6 directly or indirectly through a distant area map 4 and a transfer means 5. A boundary spot of the adjacent area and the distant area in this case is set so that the moving time of the adjacent area becomes longer than the recognition time of the distant area. Subsequently, a position estimated value being an output of the means 3 is inputted to the means 5 and the map 6, and from the map 4, front adjacent object arrangement and shape information in the area against the front adjacent area is outputted to the means 3 from the position estimated value. In such a way, a continuous movement is executed at a high speed and smoothly.