| 摘要 |
PROBLEM TO BE SOLVED: To provide a new technique for enhancing estimation accuracy of a current position of an autonomous mobile body composed of a superordinate control mechanism and a subordinate mechanism in application of a particle filter for controlling the movement of the autonomous mobile body. SOLUTION: The autonomous mobile body comprises: a means for taking a state change quantity of the autonomous mobile body estimated based on a detection value of a subordinate sensor as a processing object and setting upper and lower limits of reliability distribution of the state change quantity; a means for setting, based on a reliability of state change quantity of the autonomous mobile body in each particle, estimated by environmental measurement, upper and lower limits of reliability distribution of state change quantity of the autonomous mobile body; a means integrating the upper and lower limits set for each state of the autonomous mobile body; a means for calculating a reliability distribution of state change quantity of the autonomous mobile body, based on the integrated upper and lower limits; and a means correcting the reliability of state change quantity of the autonomous mobile body in each particle estimated by environmental measurement, based on the calculated reliability distribution. COPYRIGHT: (C)2008,JPO&INPIT
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