| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a moving body capable of more accurately specifying surface shape data corresponding to a detected surface shape and more accurately correcting own location information. <P>SOLUTION: A moving body includes: a storage unit for storing a plurality of surface shape data showing a surface shape in a direction parallel to a floor of an obstacle by a global coordinate system; an own location/angle calculation unit for calculating a location and angle of the moving body by the global coordinate system; an obstacle detection unit for detecting the surface shape in the direction parallel to the floor of the obstacle existing on scanned face by scanning a light beam by a relative coordinate system; a matching unit for specifying the surface shape data corresponding to the detected surface shape based on the location and angle of the moving body and an error thereof and the detected surface shape and an error thereof; and an own location/angle correction unit for correcting the location and angle of the moving body according to discrepancy between the detected surface shape and the surface shape data specified in the matching unit. <P>COPYRIGHT: (C)2012,JPO&INPIT |
