| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology which reduces a cost required to re-generate an environment map and timely re-generates the environment map.SOLUTION: A program for a robot stores map information including positions at which fixed objects are arranged in a prescribed area, and repeatedly performs the followings (1) to (5) while moving a robot 10 in the prescribed area when a map is re-generated: (1) integration is applied to an encoder 21 to compute a robot's own position, (2) distances up to a fixed object which exists in a range of a prescribed visual field angle of the robot, and up to a movable object are measured, (3) a corrected own position is acquired from the measured distances and a distance up to the fixed object which is obtained from the map information, (4) a measured value which represents the distance up to the movable object among the measured values is extracted, and (5) the position of the arranged movable object is computed from the extracted measured value and the corrected own position. Then, the computed positions of the arranged movable object are subjected to intensive processing to acquire a new arrangement position, and then the acquired new arrangement position is output to the outside. |
