| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide: an autonomous mobile body capable of detecting its own position properly even under circumstances including complicated mirror walls and glass walls or circumstances including less measurable walls; a control system of the autonomous mobile body; and an own position estimation method.SOLUTION: A cleaning robot 1 is provided with a calculation unit that determines a beam direction of a laser beam emitted toward a wall the distance from which can be measured from its own position candidate using a circumstance map including information on whether an obstacle has a wall measurable by the laser beam, and that detects the own position from the own position candidate using the laser beam in the determined beam direction.</p> |
