发明名称 |
AUTONOMOUS MOBILE ROBOT, SELF POSITION ESTIMATION METHOD, ENVIRONMENTAL MAP GENERATION METHOD, ENVIRONMENTAL MAP GENERATION APPARATUS, AND DATA STRUCTURE FOR ENVIRONMENTAL MAP |
摘要 |
To improve the accuracy of the self position estimation of a mobile robot. A robot measures a distance to an object in the mobile environment by using a range sensor. An environmental map storage unit stores an environmental map containing a plurality of map data each corresponding to a respective one of a plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor from the plurality of map data. Then, the self position estimation unit estimates a self position of the mobile robot based on the selected map data and range data obtained by the range sensor.
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申请公布号 |
US2011010033(A1) |
申请公布日期 |
2011.01.13 |
申请号 |
US20090919354 |
申请日期 |
2009.01.26 |
申请人 |
TOYOTA JIDOSHA KABUSHIKI KAISHA |
发明人 |
ASAHARA YOSHIAKI;MIMA KAZUHIRO;YABUSHITA HIDENORI |
分类号 |
G05D1/02;B25J5/00;B25J13/08 |
主分类号 |
G05D1/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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