| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile robot, capable of accurately estimating a self-location while suppressing increase in computing quantity. SOLUTION: The autonomously movable mobile robot 1 includes a self-location estimation part 16 which estimates the self-location; an environmental map holding part 181 which holds an environmental map showing a movable area of the mobile robot 1 by point group data; a route sensor 17 which detects a movable range around the mobile robot 1; a circumferential environmental information generation part 184 which generates circumferential environmental information showing the detection result by the route sensor 17 by point group data; a retrieval object point limiting part 186 which limits candidates of corresponding point data in the environmental map to point data present in an area with a distance of a threshold predetermined based on predetermined point data in the circumferential environmental information or less; and a location correction part 188 which takes a limited point as corresponding point data to the predetermined point data, and corrects the self-location by a positional slippage between each point data in the environmental map and the corresponding point data in the circumferential environmental information. COPYRIGHT: (C)2009,JPO&INPIT |
