Mobile robot control system, mobile robot control method, and computer readable medium

A mobile robot control method for controlling a mobile robot, a shape of the mobile robot having long sides and short sides in a top view, and the mobile robot control method comprising:

• measuring a distance from the mobile robot to a nearby object based on a result of detection by a sensor;
• setting a virtual bumper area defined by a first area and a second area, the first area being defined by a plurality of circles arranged along the long-side direction and the second area being formed by moving the first area in accordance with a moving speed of the mobile robot, wherein when the mobile robot travels along a path to make a turn, a movement distance between a center of a first circle of the first area and a center of a second circle of the second area is set in accordance with the moving speed of the mobile robot, wherein the center of the second circle is on the path the mobile robot travels along to make the turn;
• and
• controlling the mobile robot so as to decelerate or stop when the nearby object is present in the virtual bumper area.

A non-transitory computer readable medium storing a program for causing a computer to execute a mobile robot control method for controlling a mobile robot, a shape of the mobile robot having long sides and short sides in a top view, and the mobile robot control method comprising:

• measuring a distance from the mobile robot to a nearby object based on a result of detection by a sensor;
• setting a virtual bumper area defined by a first area and a second area, the first area being defined by a plurality of circles arranged along the long-side direction and the second area being formed by moving the first area in accordance with a moving speed of the mobile robot, wherein when the mobile robot travels along a path to make a turn, a movement distance between a center of a first circle of the first area and a center of a second circle of the second area is set in accordance with the moving speed of the mobile robot, wherein the center of the second circle is on the path the mobile robot travels along to make the turn;
• and
• controlling the mobile robot so as to decelerate or stop when the nearby object is present in the virtual bumper area.