Ricoh Company, Ltd.

Kento Hosaka

Koichi Kudo

Junki Aoki

Aiko Ohtsuka

Hanako Bando

Taku Kitahara

Mototsugu Muroi

A traveling body includes a range sensor and circuitry. The range sensor is disposed on a front face of the traveling body in a traveling direction in which the traveling body travels on a road surface and disposed obliquely downward at an inclination angle relative to the road surface. The circuitry determines presence of a continuous obstacle in a case where measurement results of a plurality of planes scanned by the range sensor include a plurality of feature values indicating unevenness relative to the road surface similar to each other. The circuitry generates an obstacle map of a front region of the traveling body not scanned by the range sensor, based on sequential feature information indicating that a predetermined number of feature values indicating the unevenness are sequentially present; and controls the traveling body to travel on the road surface based on the obstacle map.

Growing community of inventors

Kanagawa, Japan

Kento Hosaka