Patent ID: 10144130

Abstract:
Robot 1 includes an upper base body 10, and a control section 13 provided inside the upper base body 10. The control section 13 causes measurement section 205c to rotate in a left-right direction around yaw axis, by driving each drive section 205b of two LRFs 205. When passage width necessary for the robot 1 to pass through is W, the control section 13 causes each measurement section 205c to rotate in a range (W/2), by driving each drive section 205b of the two LRFs 205. LRF scanning speed/range calculation section 71 calculates rotation angle θswing and a rotation speed Vswing of the measurement section 205c. The control section 13 drives the drive sections 205b so as to cause the measurement section 205c to rotate at the rotation angle θswing and the rotation speed Vswing calculated by the LRF scanning speed/range calculation section 71.