JP5083543B2 - Traveling area discrimination device and traveling area discrimination method for mobile robot - Google Patents

Description

  The present invention relates to a travel region discriminating device and a travel region used for classifying a region on the front side of a mobile robot into a travelable region and a travel impossible region due to a failure in a step of determining a travel route of the mobile robot traveling autonomously. This is related to the discrimination method.

  Conventionally, as the traveling region discrimination method as described above, for example, a single-axis scan type laser range finder is used to acquire external data, and the data obtained by the laser range finder is statistically processed to obtain a smooth region. There is a method of detecting and making a travelable region, and detecting a region with a height higher than a smooth region to make the region unable to travel due to a failure (see Patent Document 1).

In addition, external data is acquired using multiple sensors such as a laser range finder, CCD camera, contact sensor, and ultrasonic sensor. Based on these data, areas that are flat and can be used for traveling and areas that are uneven and cannot be used are discriminated. In addition to the technique (see Patent Document 2), three-dimensional data is acquired indoors with various sensors, and the feature amount of the shape of these three-dimensional data (particularly the feature amount in the height direction of the shape) There is a technique in which an obstacle is detected by using a so-called pattern matching of a feature amount to detect an obstacle by comparing with a preset obstacle model (see Patent Document 3).
JP 2000-075032 JP Japanese Patent No. 02769972 JP 2004-326264 A

However, in the conventional traveling region discrimination method described above, when various features obtained from shape information obtained by a sensor such as a laser range finder are used to discriminate height, gradient, etc., using the threshold value, In addition to the complicated determination, it is very difficult to reflect the correlation between the feature quantities in the determination.
In particular, in an outdoor rough terrain environment, there is a problem that it is difficult to detect an obstacle by pattern matching with a known obstacle model, and it has been a conventional problem to solve these problems.

  The present invention has been made paying attention to the above-described conventional problems, and in the case of autonomously traveling a mobile robot outdoors, it is possible to determine whether or not it is a travelable region only by simple condition setting, For example, even when driving autonomously in an undeveloped environment where there is no road map such as a riverbank, it is possible to drive along a road along a slight vehicle passing trace such as a kite, and in addition, a determination is made. It is an object of the present invention to provide a travel region discriminating apparatus and a travel region discriminating method capable of reducing the calculation cost by the amount not performing the convergence calculation and performing real-time processing. .

  The present inventors extract a plurality of geometric feature amounts from cross-sectional profile shape data to be measured acquired by a horizontal line scan type single-axis laser range finder, and perform machine learning on these feature amounts ( By applying a supervised learning classifier), even in complicated terrain, it can be classified into areas that can be easily driven, for example, a minute vehicle passing trace such as a kite, and other areas, It has been found that a mobile robot can be run along a road along a vehicle passing track.

That is, the invention according to claim 1 of the present invention is a travel region discriminating device that divides a region on the front side of a mobile robot that travels autonomously into a travelable region and a travel impossible region due to an obstacle, and scans the laser beam. A laser range finder that acquires shape data of the front side of the mobile robot, an external field measurement unit that includes a coordinate conversion unit that converts sensor coordinate system data obtained by the laser range finder into orthogonal coordinate system data, It is provided with a data memory, and the area on the front side of the mobile robot is determined from the advance data stored in the advance data memory and the geometric feature amount of the shape data obtained by the external measurement unit depending on the travelable area and the obstacle. A vehicle that includes a processing unit that performs processing to divide the vehicle into an inoperable region, and the preliminary data stored in the preliminary data memory of the processing unit is a vehicle that includes the external measurement unit. A plurality of geometric feature amounts of shape data acquired by the laser range finder and the shape range acquired by the laser range finder and the travelable region and the travel classified on the two-dimensional map in which the shape data acquired by the laser range finder are mapped The prior data memory for a plurality of geometric feature quantities of shape data obtained by the external measurement unit on the mobile robot that autonomously travels. Applying a classifier that does not use a convergence calculation using the prior data stored in the training data as a teacher data, the front area of the mobile robot is divided into a runnable area and a runnable area due to an obstacle , region in the case of outdoor irregular areas, and configured to process the path along the faint vehicle passing marks, such as ruts as the travel area DOO is characterized by, that the structure of the travel area determination apparatus of the mobile robot as a means for solving the conventional problems described above.

Further, in the running region determination device of the mobile robot according to claim 2 of the present invention, the processing unit, for a plurality of geometric features of the values of the shape data obtained in the previous Kigaikai measuring unit, the logarithm The segmentation process is performed using the obtained value.

On the other hand, the invention according to claim 3 of the present invention is a traveling region determination method for dividing a region on the front side of a mobile robot that travels autonomously into a traveling possible region and a region incapable of traveling due to a failure. Able to travel classified on a two-dimensional map in which a plurality of geometric feature values extracted from the shape data acquired by the laser range finder that is driven and mounted on the vehicle and the shape data acquired by the laser range finder are mapped. Preliminary data consisting of the classification results of the area and the non-travelable area is created in advance, and at the time when the mobile robot travels, a laser beam is scanned from the laser range finder mounted on the mobile robot and the front side of the mobile robot is scanned. Sensor coordinate system data obtained with this laser range finder while acquiring shape data After conversion to Cartesian coordinate system data, a convergence operation using the pre-created pre-created data as teacher data for a plurality of geometric feature values extracted from the shape data obtained by the laser range finder of the mobile robot is performed. in the case by applying the classifier is not used is divided into traveling impossible region by travelable area and impairs the front side area of the mobile robot, in particular the travel area is an outdoor irregular areas, faint vehicles passing marks, such as rut The route of the mobile robot is processed as a travelable region, and the configuration of the travel region discrimination method of the mobile robot is used as a means for solving the above-described conventional problems.

The running region determination method for a mobile robot according to claim 4 of the present invention, used for a plurality of geometric features of the values of the shape data obtained in the previous Kigaikai measuring section, the value of the logarithm Thus, the sorting process is performed.

In this case, in addition to the horizontal line scan type single-axis laser range finder that acquires the shape data of the front side of the mobile robot, a 3D scan type two-axis laser range finder can be used as the external measurement unit. For example, a stereo camera can be used.
Further, dead reckoning or GPS (Global Positioning System) can be used as self-position measuring means for obtaining the self-position of the mobile robot and clarifying the measurement point by the external measurement unit.

  Since the mobile robot travel area discriminating apparatus and the mobile robot travel area discriminating method according to the present invention are configured as described above, when the mobile robot is autonomously traveling outdoors, the front of the mobile robot can be simply set by simple conditions. It is possible to determine whether or not the side area is a travelable area.For example, even when autonomously traveling in an undeveloped environment without a road map such as a riverbank, it follows the traces of passing vehicles such as dredges. A very good effect that it is possible to drive on a smooth road is brought about.

In the data processing when performing the determination, it is possible to reduce the amount corresponding computational cost does not perform convergence calculation state, and are capable of performing real-time processing, in addition, it was obtained at ambient measurement section shape If segmentation processing is performed using logarithmic values for a plurality of geometric feature value values of data, the distribution of feature value values in the runnable region and the non-runnable region is distributed. very excellent effect that Ru can reveal is produced as a normal distribution of the same scale.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A mobile robot travel area determination device and a travel area determination method according to the present invention will be described below with reference to the drawings.
FIGS. 1-6 has shown one Embodiment of the traveling area discrimination | determination apparatus of the mobile robot based on this invention, In this embodiment, the case where a mobile robot is a vehicle type is mentioned as an example and demonstrated.
As shown in FIGS. 1 and 2, the traveling region discriminating apparatus 1 is a horizontal line scan type single-axis laser range finder 11 and 3D scan that scans a laser beam and acquires shape data on the front side of the mobile robot R. A vertical gyroscope (coordinate conversion means) 13 is provided which provides data for converting the sensor coordinate system data obtained by the two-axis laser range finder 12 and the one-axis laser range finder 11 into orthogonal coordinate system data with the vertical upward as one axis. A dead-reckoning wheel odometer 21, a yaw rate sensor 22, and a GPS 23, a self-position measuring unit 20 that determines the self-position of the mobile robot R, and external data obtained by the external-measuring unit 10 A processing unit 30 to which self-position data obtained by the self-position measuring unit 20 is input via the input / output circuit And a mapping section 40 which connects the processing unit 30 and via the LAN 3.

In this case, the external environment measurement unit 10 is mounted on the front end portion (left end portion of FIG. 2A) of the mobile robot R, while the self-position measurement unit 20 includes a data analysis unit 30, a map creation unit 40, and a vehicle body control unit described later. 60 is mounted at the rear end (right end in FIG. 2A) of the mobile robot R, and the GPS 24 antenna 24 is disposed at the rear end of the mobile robot R.
The steering means 51 of the vehicle body drive unit 50 in the mobile robot R is connected to the vehicle body control unit 60 via the driver 52 and the input / output circuit 4, and the vehicle speed control means 53 of the vehicle body drive unit 50 is a converter 54. In addition, the vehicle body control unit 60 is connected to the vehicle body control unit 60 via the input / output circuit 4, and a control signal from the map creation unit 40 is input to the vehicle body control unit 60 via the LAN 3.

  As shown in FIG. 3, the processing unit 30 is a region on the front side of the mobile robot R from the preliminary data stored in the preliminary data memory 30 a and the geometric feature amount of the shape data obtained by the external measurement unit 10. The obstacle detection module 30A for classifying the vehicle into a travelable area and an inability to travel due to an obstacle, and the self-position estimation result based on the self-position data obtained by the self-position measurement unit 20 such as vehicle speed and yaw rate A self-location information generation module 30B is generated.

  Here, the pre-created pre-stored data stored in the pre-data memory 30a of the processing unit 30 is the shape data obtained by actually running the vehicle equipped with the external measurement unit 10 and using the laser range finders 11 and 12. And a classification result of the runnable area and the non-runnable area artificially classified on the two-dimensional map in which the shape data acquired by the laser range finders 11 and 12 is mapped. The processing unit 30 applies a classifier using prior data as teacher data to a plurality of geometric feature amounts of the shape data obtained by the external measurement unit 10 of the mobile robot R, so that the mobile robot R The front area is divided into a travelable area and a travel impossible area due to an obstacle.

In addition, the map creation unit 40 includes a map creation module 40A that creates a base map based on the discrimination information of the travelable region and the travel impossible region due to a failure obtained from the processing unit 30, and the map creation module A travel route determination module 40B that determines the travel route of the mobile robot R based on the base map created in 40A is provided.
In the travel region discriminating apparatus 1 described above, in the external measurement unit 10, the sensor coordinate system data obtained by the single-axis laser range finder 11 is used as orthogonal coordinate system data with the vertical upward direction as one axis using the posture information from the vertical gyroscope 13. However, since the uniaxial laser range finder 11 and the vertical gyro 13 are both fixed to the pan head 6, the coordinate transformation matrix used for the conversion is relative to the uniaxial laser range finder 11 and the vertical gyro 13. Decide in advance from the specific attitude.

  This enables processing in a coordinate system based on the vertical direction when the sensor optical axis fluctuates due to the swing of the mobile robot R. In one scanning data of the one-axis laser range finder 11, Comparison of relative height components based on direction is possible. Note that the translational motion in the vertical direction of the mobile robot R is not practically measurable, so the data (values in the height direction) acquired at different timings are not compared with each other.

Further, in the pre-data stored in the pre-data memory 30a of the processing unit 30, the following four feature amounts are used as geometric feature amounts of the shape data constituting the pre-data.
A. The absolute value of the difference in the height direction between adjacent data in one scanning line of the concavo-convex uniaxial laser range finder 11 in the adjacent region a. The absolute value of the second-order difference value in the height direction between three adjacent data points in one scanning line of the curvature 1 laser range finder 11 c. Randomness (unevenness dispersion value)
Dispersion from the curve after quadratic function fitting of data of about six points adjacent to each other in one scanning line of the single-axis laser range finder d. A distance value L1 when the front side of the mobile robot R shown in Saz 4 (a) between the distance values and the measured values in the case where the front side is assumed that the plane is assumed to be the plane of the mobile robot R, Fig. 4 ( The absolute value of the difference from the actual measurement value L2 when there is an obstacle S having a height on the shoulder shown in b).

Of the four feature quantities (a) to (d), the feature quantities (a) to (c ) are not significantly affected by the road surface gradient. Regarding the feature amount (d), a change in the slope of the road surface, for example, a change in the slope at the entrance of the uphill is an error factor, but otherwise it is a good guideline for characterizing the travelable area.
In addition, prior data stored in the prior data memory 30a of the processing unit 30 is first created by first running a vehicle including the external measurement unit 10 in an environment where traveling is assumed, and then performing a laser range finder thereof. The shape data is acquired by 11, 12 and, as shown in FIG. 5, this shape data (height information) is mapped to two-dimensional map data based on the self-position information by GPS or the like. In FIG. 5, the black portion is the low position Lo, the white portion is the high position Hi, and the gray portion is the unmeasured position M.

Next, based on the still image or the moving image when the vehicle is actually traveled, as shown in FIG. 6, the travelable area and the travel impossible area are colored on the two-dimensional map data by human judgment, respectively. Color code. In FIG. 6, the white portion is a travelable region G, and the black portion is a travel impossible region NG.
In the section where the shape data is measured by the laser range finders 11 and 12, the above-described four geometric feature quantities (a) to (d) are extracted from the shape data. The prior data classified into the runnable area and the non-runnable area by combining these geometric feature quantities (a) to (d) and the classification results of the runnable area and the non-runnable area on the two-dimensional map. Is created.

It should be noted that when the travelable area and the travel impossible area are classified on the two-dimensional map data by the judgment of the person, for example, for the boundary portion between the fence and the grass, the data of the travelable area and the travel impossible area are stored. Because they are mixed, the separation of the acquired data is improved by deliberately leaving off the division.
In this embodiment, as described above, the processing unit 30 uses a classifier that uses prior data as teacher data. However, here, a feature amount (as a constituent element of teacher data (preliminary data)) ( As for (a), as shown in FIG. 7, the statistics are represented as a histogram. This feature amount (a) is a value acquired in the hail produced by the vehicle passing a plurality of times in the past and the grass around it.

From this histogram, regarding the distribution of the feature value (a) in the runnable region and the non-runnable region, the level difference is concentrated as a small value in the runnable region, while the level difference is small in the non-runnable region. Although it can be seen that the distribution is wide up to a large value, it is difficult to distinguish by a simple threshold.
Next, as shown in FIG. 8, a histogram was newly created by taking the logarithm of the feature value (a).

  From this histogram, it can be seen that the average values are independent in the runnable region and the non-runnable region, and the variance appears as a normal distribution of the same scale. The reason for this is that the order of the height difference of the unevenness included in the unmovable natural travelable area and the non-travelable area is different. Specifically, the unevenness in the reed area has a height difference of several tens of millimeters. In contrast to the random structure of the degree, the unevenness in the other areas such as grassy spots has a random structure with a height difference of about several hundred mm.

Matching the statistics of the data to be classified is important to prevent rounding errors, especially when performing numerical calculations. In addition, the classification performance is improved when a model assuming the simplest normal distribution is applied as a learning model. In other words, if a plurality of types of feature quantities having such a distribution can be acquired, classification with a high accuracy rate can be performed by machine learning.
Therefore, in this embodiment, it is assumed that each class of the runnable area and the non-runnable area is represented by a mixed normal distribution of the feature amounts (a) to (d) by performing the preprocessing as described above. Then, the following Bayes formula (Formula (1)) was used as a classifier (machine learning method) of the processing unit 30.

(Formula 1)

In this Bayesian formula, posterior probabilities can be calculated, where C is two classes of a runnable region and a non-runnable region, and D is a four-dimensional feature vector.
In the measurement of the prior data in each class, the probability when the probability distribution density of the feature quantity is assumed to be a mixed normal distribution is obtained by the following equation (2).

(Formula 2)

By calculating Equation 2, the posterior probability can be calculated, where μk is the average value of the feature quantities in class k and Σk is the covariance matrix in class k.
Therefore, as the prior learning, the average value μ and the covariance matrix Σ of each feature amount are obtained for each class based on the teacher data. At the time of classification, in each class of the runnable area and the non-runnable area, the feature quantity acquired from the measurement data is substituted into the feature quantity vector D of the above equation 2, and the class having the larger probability P (D | C). Is the estimated class.

The result of dividing the area on the front side of the mobile robot R into the runnable area and the non-runnable area due to the obstacle using the classifier configured by the prior learning with respect to the shape data obtained by the external measurement unit 10 is shown in FIG. 9 shows. In FIG. 9, the white portion is a travelable region G, and the black portion is a travel impossible region NG.
Data processing when performing the classification method using the Bayes formula can reduce the calculation cost by the amount of not performing the convergence calculation, and can perform real-time processing.

In the travel region discriminating apparatus 1 described above, the travelable region and the travel impossible region due to the obstacle are classified based only on the local shape data measured by the single-axis laser range finder 11. There may be a small non-travelable area within the range of the travelable area, such as grass that grows in the center.
In such a case, assuming that the travelable area continuously spreads, the small travel impossible area surrounded by the travelable area may be removed as noise using, for example, a median filter. Well, this makes it possible to detect naturally occurring dredging that does not have a prior map (route information) and determine that it should be a route that should be traveled. become.

In addition, although there is a possibility that an actual obstacle is removed by such noise processing, in that case, from the shape data of the single-axis laser range finder 11 determined to be a travelable region, it is anew. By extracting information related to running such as unevenness and gradient, detailed path plans and speed control are possible.
In this travel area discriminating apparatus 1, even if the environment (for example, Kawahara) from which the learning data is acquired and the environment (for example, forest road) in which the mobile robot R travels are different, the same classification performance is obtained. can get.

Next, a procedure for creating the travel route determination map of the mobile robot R will be described.
First, the obstacle detection module 30A in the processing unit 30 of the travel area determination device 1 travels based on the shape data obtained from the external measurement unit 10 and the self-position data obtained from the self-position measurement unit 20 such as vehicle speed and yaw rate. A determination process of a possible area and an inoperable area due to a failure is performed.

Specifically, a mobile robot is applied to a plurality of geometric feature quantities of shape data obtained by the laser range finder 11 by using a classifier that uses pre-data stored in the pre-data memory 30a as teacher data. In the area on the front side of R, it is determined that the naturally-occurring kite is a travelable area, and the other areas are determined to be travel impossible areas due to obstacles.
On the other hand, the self-position information generation module 30B that receives the self-position data based on the vehicle speed, the yaw rate, and the like obtained by the self-position measurement section 20 for self-position estimation in the processing section 30 A position estimation result is generated. Specifically, dead record information is generated by integrating the vehicle speed and the yaw rate.

Next, the map creation module 40A of the map creation unit 40 continuously creates a consistent base map based on the determination information of the travelable region and the travel impossible region due to a failure obtained from the processing unit 30.
Subsequently, the travel route determination module 40B determines a travel route based on the base map created by the map creation module 40A, outputs a command signal to the vehicle body control unit 60, and the vehicle body control unit 60 determines the steering angle and speed. Then, when control signals are output to the steering means 51 and the vehicle speed control means 53 of the vehicle body drive unit 50, traveling along the road along the heel of the mobile robot R is performed.

Therefore, in the travel region discriminating apparatus 1 described above, it is possible to determine whether or not the region on the front side of the mobile robot R is a travelable region only by simple condition setting. It is possible to drive along a road along a slight vehicle passing trace such as a kite.
In the travel region discriminating apparatus 1 described above, the external measurement unit 10 includes the one-axis laser range finder 11, the three-axis laser range finder 12, and the vertical gyro 13. The configuration and arrangement other than the laser range finder 11 are not limited to this.

  Further, in the above-described travel region discriminating apparatus and travel region discriminating method, four feature amounts (a) are used as geometric feature amounts of the shape data constituting the pre-data stored in the pre-data memory 30a of the processing unit 30. ) To (d) are used, but the present invention is not limited to these, and any difference can be used if there is a statistical difference between the runnable area and the runnable area.

  Furthermore, in the above-described travel area determination device and travel area determination method, the distance measurement data of the single-axis laser range finder 11 is used as the geometric feature amount of the shape data constituting the advance data, but the present invention is not limited to this. In addition to the distance measurement data, the reflection intensity data of the uniaxial laser range finder 11 can be used together, and images and data from other external sensors can be used together.

  Furthermore, in the above-described travel region determination device and travel region determination method, it is assumed that each class of the travelable region and the travelless region is represented by a mixed normal distribution of the respective feature amounts (a) to (d). The Bayes formula is used for the classifier (machine learning method) of the processing unit 30. However, the classifier is not limited to this, and a classifier such as a multilayer perceptron or a support vector machine can be used. In the case of using a machine having a higher classification performance such as a support vector machine, it is considered that raw data of several points in the vicinity of the uniaxial laser range finder 11 can be used as they are as feature quantities.

Furthermore, as an extension of the above-described travel area discrimination device and travel area discrimination method, it is conceivable to automatically acquire teacher data (online learning).
Furthermore, in the above-described embodiment, the case where the mobile robot is a vehicle type is shown, but the present invention is not limited to this.

It is a block diagram which shows one Embodiment of the traveling area discrimination | determination apparatus of the mobile robot which concerns on this invention. It is side surface explanatory drawing (a) of the mobile robot carrying the travel area discrimination device in FIG. 1, and layout explanatory drawing (b) of an external field measurement part. It is a block diagram which shows the control flow of the travel area discrimination device in FIG. In the travel region discriminating apparatus in FIG. 1, an explanatory plan view (a) showing a distance value when the front side of the mobile robot is assumed to be a plane, and a case where an obstacle with a height exists on the front shoulder of the mobile robot exists. It is plane explanatory drawing (b) which shows a measured value. It is data explanatory drawing of the two-dimensional map of the state which mapped the shape data acquired with the laser range finder mounted in the vehicle actually drive | worked at the time of prior data preparation based on self-position information. It is data explanatory drawing of the 2D map of the state color-coded into the driving | running | working possible area | region and the driving impossible area | region on 2D map data at the time of prior data creation. It is a histogram which shows distribution of the unevenness | corrugation of the vicinity area | region which is the feature-value in a driving | running | working area | region and a driving impossible area | region. It is a histogram which shows logarithm in the value of the unevenness | corrugation of the vicinity area | region which is the feature-value in a driving | running | working possible area | region and a driving impossible area | region. FIG. 7 is a result explanatory diagram when a region on the front side of the mobile robot is divided into a travelable region and a travel impossible region using the travel region determination device in FIG. 1.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile robot travel area discriminating apparatus 10 External measurement unit 11 1-axis laser range finder 13 Vertical gyro (coordinate conversion means)
30 processing unit 30a advance data memory G travelable area NG travel impossible area R mobile robot

Claims (4)

A traveling region discriminating device that divides an area on the front side of a mobile robot that travels autonomously into a travelable region and a travel impossible region due to a failure,
A laser range finder that scans a laser beam to acquire shape data on the front side of the mobile robot, and an external field measurement that includes coordinate conversion means for converting sensor coordinate system data obtained by the laser range finder into orthogonal coordinate system data And
An advance data memory is provided, and an area on the front side of the mobile robot and an obstacle are obtained from the advance data stored in the advance data memory and the geometric feature amount of the shape data obtained by the external measurement unit. It has a processing unit that performs processing to divide into areas that cannot be driven by
The pre-data stored in the pre-data memory of the processing unit includes a plurality of geometric feature amounts of shape data obtained by actually driving a vehicle including the external measurement unit and acquired by the laser range finder, and the laser range. It consists of the classification result of the runnable area and the runnable area classified on the two-dimensional map to which the shape data acquired by the finder is mapped,
In the processing unit, the pre-data stored in the pre-data memory is instructed for a plurality of geometric feature amounts of the shape data obtained by the external measurement unit on the mobile robot traveling autonomously. By applying a classifier as data, the area on the front side of the mobile robot is divided into a travelable area and a travel impossible area due to an obstacle , and in particular when the travel area is an outdoor rough terrain. A traveling region discrimination device for a mobile robot, wherein a route along a kana vehicle passing trace is processed as a travelable region. 2. The mobile robot according to claim 1, wherein the processing unit performs the classification process using a logarithm value with respect to a plurality of geometric feature values of the shape data obtained by the external measurement unit. Traveling area discrimination device. A traveling area determination method that divides an area on the front side of a mobile robot that travels autonomously into a travelable area and a travel impossible area due to an obstacle,
Classification on a two-dimensional map in which a plurality of geometric feature values extracted from shape data acquired by a laser range finder mounted on the vehicle by actually running the vehicle and shape data acquired by the laser range finder are mapped Create in advance pre-composed data consisting of the classification results of the runnable area and non-runnable area,
At the time of traveling the mobile robot, the laser range finder mounted on the mobile robot is scanned with laser light to obtain shape data on the front side of the mobile robot, and the sensor coordinate system data obtained by the laser range finder Is converted to Cartesian coordinate system data,
A front side of the mobile robot is applied to a plurality of geometric features extracted from the shape data obtained by the laser range finder of the mobile robot by applying a classifier using the pre-created pre-prepared data as teacher data. Is divided into a runnable area and a non-runnable area due to obstacles , and in particular when the travel area is an outdoor rough terrain, a route along a slight vehicle passing trace such as a saddle is processed as the runnable area. A mobile robot travel area determination method. 4. The traveling region discrimination method for a mobile robot according to claim 3 , wherein the segmenting process is performed using logarithm values for a plurality of geometric feature values of the shape data obtained by the laser range finder.