发明名称 |
AUTONOMOUS MOBILE ROBOT, SELF-POSITION ESTIMATION METHOD, ENVIRONMENT MAP GENERATION METHOD, ENVIRONMENT MAP GENERATING DEVICE, AND ENVIRONMENT MAP GENERATING COMPUTER PROGRAM |
摘要 |
To improve the accuracy of the self position estimation of a mobile robot. A robot 1 measures a distance to an object in the mobile environment by using a range sensor 11. An environmental map storage unit 13 stores an environmental map containing a plurality of map data each corresponding to a respective one of plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit 14 selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor 11 from the plurality of map data. Then, the self position estimation unit 14 estimates a self position of the mobile robot 1 based on the selected map data and range data obtained by the range sensor 11. |
申请公布号 |
EP2256574(B1) |
申请公布日期 |
2015.06.17 |
申请号 |
EP20090713949 |
申请日期 |
2009.01.26 |
申请人 |
TOYOTA JIDOSHA KABUSHIKI KAISHA |
发明人 |
ASAHARA, YOSHIAKI;MIMA, KAZUHIRO;YABUSHITA, HIDENORI |
分类号 |
G05D1/02;B25J5/00;B25J13/08 |
主分类号 |
G05D1/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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