| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a mobile robot for reducing a calculation cost to be required for generating an environment map where data of an obstacle sensor, which are repetitively acquired during a movement, are integrated. <P>SOLUTION: The mobile robot repetitively detects obstacles in a circumference thereof during the movement. An odometry part records distances between detection spots where the obstacles are detected and angles between detection directions at the respective detection spots. A map generation part generates the environment map, where the data of the obstacle sensor at the respective detection spots are mapped to an integrated coordinate system, based on the recorded distances and angles. Further, the map generation part excludes from original data for generating the environment map, sensor data at past detection spots that satisfies both of a distance condition that the distance from a latest detection spot is larger than a predetermined distance threshold and an angle condition that an angle with the detection direction at the latest detection spot is smaller than a predetermined angle threshold. <P>COPYRIGHT: (C)2012,JPO&INPIT |
