| 摘要 |
<P>PROBLEM TO BE SOLVED: To achieve the traveling control of a high speed response by shortening a time to be spent on the estimation of the position and posture of an autonomous mobile robot when it starts to travel. <P>SOLUTION: The position and posture estimation system of a traveling object is configured to perform matching processing of searching distance sum data in a distance sum map data group which approximates to distance sum data obtained from the measurement result of a distance sensor 3, and estimating the position and posture of an autonomous mobile robot on the basis of the result. In this case, a plurality of search conditions of the matching processing are prepared. As the first search condition, the distance sum map data of the position and posture which may be taken by the autonomous mobile robot 1 among distance sum map data included in a traveling history are prepared. As the second search condition, the distance sum map data of the position and posture which may be taken by the autonomous mobile robot 1 on a preliminarily set route are prepared. As the third search condition, the distance sum map data of the position and posture in the route are prepared. As the final search condition, the distance sum map data of the position and posture which may be taken by the autonomous mobile robot 1 among map data are prepared. <P>COPYRIGHT: (C)2013,JPO&INPIT |
