AUTONOMOUS MOVEMENT SYSTEM

摘要

The autonomous movement system of the present invention for traveling to a destination while also estimating a self-position by referring to a map on the basis of measurement data from a peripheral object shape measurement unit is characterized in comprising: a travel environment shape model input unit for inputting a shape model of the travel environment; a self-position error prediction unit for calculating the prediction error of the self-position estimation on the basis of the shape model; a prediction error map generation storage unit for generating and storing, in a region where the autonomous movement system is capable of traveling, a prediction error map with which the prediction error is associated; and a path planning unit for referring to the prediction error map and planning a path on the basis of the prediction error corresponding to the path in which the autonomous movement system is traveling.