| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous travel device, which estimates a self-position state on the basis of an environment map measured with a distance sensor and the environment map previously recorded and on the basis of the estimated self-position state performs autonomous travel, capable of comparing and analyzing the two environment maps in a suitable direction and suitably determining a relative deviation.SOLUTION: An autonomous travel device 1 includes drive wheels 12, 13, motors 6, 7, a distance sensor 20 to measure an environment map around the device 1, and a controller 30 to output a motor control signal on the basis of a measurement signal from the distance sensor 20. The controller 30 previously records the environment map therein around the device 1 corresponding to a predetermined travel path. The controller 30 forms the environment map around the device 1 on the basis of a distance signal from the distance sensor 20, performs a comparison analysis of the formed environment map and the previously recorded environment map with the greedy algorithm, thereby estimates a self-position state, and outputs the motor control signal so as to travel along the predetermined travel path on the basis of the self-position state. |
