Walking robot performing position recognition using several local filters and a fusion filter

摘要

A mobile apparatus and a position recognition method thereof, capable of enhancing performance in position recognition, such as accuracy and convergence in position recognition of the mobile apparatus. The apparatus performs the position recognition by use of a distributed filter system, which is composed of a plurality of local filters independently operating and a single fusion filter that integrates the position recognition result performed by each of the plurality of local filters. The mobile apparatus includes a plurality of sensors, a plurality of local filters configured to receive detection information from at least one of the plurality of sensors to perform a position recognition of the mobile apparatus, and a fusion filter configured to integrate the position recognition result of the plurality of local filters and to perform a position recognition of the mobile apparatus by using the integrated position recognition result.