MOVING CONTROLLER OF MOBILE ROBOT

PURPOSE:To move a mobile robot at high speed in complicated environment by forecasting a present position based on an observed picture, recognizing a surrounding state, planning a moving scheme and allowing the robot to conduct the moving work. CONSTITUTION:An observing sub-system E processes an observed picture from a visual means D and outputs an inductive signal E1 of a moving robot A. A moving work sub-system F forecasts the present position of the robot A based on position information of the robot A and outputs an operating signal F2 of the actuator while calculating it. An environment understanding sub-system H analyzes an observed picture from the means d so as to recognize the state around the robot A. A moving work intelligent base J stores the knowledge required for the movement and work of the robot A. A operating shceme subsystem I plans the content of scheme G2 of the movement and the work of the robot A and outputs it to the system F.