| 摘要 |
PURPOSE: Path generation method of an autonomous mobile robot using uncertainty is provided to generate an optimal path by combining uncertainty of a motion model of an autonomous mobile robot and uncertainty of a sensor model of a location estimation sensor. CONSTITUTION: A plurality of preliminary paths with respect to a start location and a destination location are generated (S40). Combined uncertainty with respect to each preliminary path by combining motion uncertainty about driving of an autonomous mobile robot and sensor uncertainty about a location estimation sensor is calculated (S41). Path cost for the respective plurality of preliminary paths is calculated (S42). The final path of the plurality of preliminary paths by comparing the calculated path cost about the plurality of preliminary paths is generated (S44). [Reference numerals] (AA) Start; (BB) End; (S40) Generate a plurality of preliminary paths; (S41) Calculate combination uncertainty; (S42) Calculate path cost; (S43) Applied to all preliminary paths?; (S44) Generate a final path |
