| 摘要 |
<P>PROBLEM TO BE SOLVED: To simply and accurately estimate the present traveling position of a mobile robot by using images of a camera. <P>SOLUTION: A route planning part 24 plans a traveling route up to a destination on the basis of an estimated present traveling position and outputs a traveling command to a traveling control part 26 to control traveling so as to follow the traveling route. A traveling position prediction part 34 predicts the present traveling position by accumulating a traveling distance detected by a wheel rotation angle sensor 32 on the estimated present traveling position. A predictive image generation part 36 generates a plurality of predictive edge images composed of edge information picked up by virtually arranging the camera 18 on the predicted present traveling position and its peripheral candidate position on the basis of the layout information of an environment and an edge image generation pat 44 generates a real edge image from a real image photographed by the camera 18. A position estimation part 40 compares the edge image with the plurality of predictive edge images and estimates the candidate position of the predictive edge image whose similarity is maximum as a traveling position and updates the traveling position in the route planning part 24 and the traveling position prediction part 34. <P>COPYRIGHT: (C)2008,JPO&INPIT |
