POSITION ESTIMATION METHOD AND DEVICE OF MOBILE ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a method and a device for improving accuracy for estimating the position of a mobile robot by detecting a signal sent from a signal generator accurately. SOLUTION: The method for estimating the position of a mobile robot includes: a stage for receiving first and second signals sent from a prescribed signal generator by a sensor for receiving the first signal and not less than three sensors for receiving the second signal that the mobile robot has; a stage for calculating the transmission distance to each sensor for receiving the second signal by using time information extracted from the first signal; and a stage for calculating the position of the mobile robot from the transmission distance. The second signal is transmitted from the signal generator at least for two times, and each sensor for receiving the second signal calculates the propriety of the amplification of the second signal to be received thereafter according to the measurement result of the second signal that was received first. COPYRIGHT: (C)2008,JPO&INPIT