| 摘要 |
PROBLEM TO BE SOLVED: To automatically perform processing for coordinate-converting a point on one environmental map in accordance with a coordinate system of the other environmental map with a little calculation amount by correcting an attitude offset between the two environmental maps. SOLUTION: (a) An attitude of the one environmental map is changed by making a coordinate system of the one environmental map perform translation or rotation, and (b) a distance from each obstacle cell of the one environmental map after the attitude change to a nearest obstacle cell in the other environmental map is obtained about each of the plurality of obstacle cells that are areas not allowing movement included in the one environmental map. (c) Optimization calculation is performed with a total value of the distances to the nearest obstacle cells calculated about the plurality of obstacle cells as an objective function, and the attitude of the one environmental map optimized with the objective function is determined. (d) Coordinates on the one map of the two environmental maps are converted into coordinates on the other map based on the attitude of the one environmental map obtained by the optimization calculation. COPYRIGHT: (C)2009,JPO&INPIT
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