| 摘要 |
PROBLEM TO BE SOLVED: To enable a moving body movable autonomously such as an autonomous robot to perform positioning highly accurately by reducing an error caused by an influence of an obstacle under an environment enabling radio positioning. SOLUTION: A position is estimated by detecting a moving direction and a moving amount by a gyro 23 and an encoder 24 for detecting a rotational frequency. Errors are increased following increase of the moving amount in the position estimation. Radio positioning is performed by performing radio communication with each base station by a radio terminal 21. Radio positioning propriety data and communication state data are generated based on a radio positioning result on each optional spot, and stored in correspondence with its position coordinate repeatedly, to thereby accumulate the data. As a data accumulation amount is increased, finding of an area capable/incapable of radio positioning becomes possible on reference to the accumulated data. Consequently, for example, when a destination is in an area incapable of radio positioning, movement control is performed so that a moving distance in the area incapable of radio positioning becomes short. COPYRIGHT: (C)2009,JPO&INPIT
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