| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous positioning apparatus which achieves high-precision and low-load autonomous positioning. SOLUTION: A triangle▵abc is translated from the status of (A) so that a point g matches a point G. The triangle▵abc is rotated by a rotation angleϕabout the center of gravity g at (B). The rotation angleϕis 0°≤ϕ≤360°, and it is increased by a predetermined amountΔϕ. This status is (C). Before the rotation, the sum of the distance aA between vertices Pa and PA, the distance bB between vertices Pb and PB, and the distance cC between vertices Pc and PC is calculated. (D) shows a status after the rotation. After the rotation of the rotation angleϕ, the sum of the distance aA between vertices Pa and PA, the distance bB between vertices Pb and PB, and the distance cC between vertices Pc and PC is also calculated, and compared with the sum of the distances aA-cC before the rotation. The rotation angleϕat which the sum after the rotation is smaller is stored. An initial azimuth is calculated by adding the rotation angleϕfinally obtained and a travel rotation angle in the final vector v<SB>end</SB>of a travel locus Vbc reaching a point Pc. COPYRIGHT: (C)2010,JPO&INPIT |
