Routing apparatus for autonomous mobile unit

A routing apparatus installed on an autonomous mobile unit, comprising a sensor unit for detecting an object in a field of view and for measuring a position of the object, and an electronic control unit for controlling movement of the autonomous mobile unit, wherein the electronic control unit is programmed to perform the functions of:

• determining velocity and a travel direction of an object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles;
• determining a path of the autonomous mobile unit to avoid collision with the object based on the position, the velocity, and the travel direction of the object;
• setting the velocity of the object to a value equal to or lower than a predetermined value and storing the set value of the velocity in a memory if an object recognized in the previous measurement cycle is not recognized in the current measurement cycle;
• and
• determining the path of the autonomous mobile unit by taking into consideration of the object stored in the memory.