| 摘要 |
PROBLEM TO BE SOLVED: To provide an inexpensive mobile robot capable of reducing errors in position measurement, due to the fluctuations of a wheel radius or the like, and enables precise calculation of the current position. SOLUTION: This mobile robot 1 moves on a travel route, comprising a plurality of sections by driving the wheels. A storage part 15 stores route information recorded with a distance between a start point and a terminal in the prescribed section, and an angle difference therebetween. When the terminal in the prescribed section is determined, a wheel information calculating part 57 calculates a wheel feature quantity, such as the wheel diameter and the wheel interval, based on a wheel rotation amount measured between the start point and the terminal in the prescribed section, and based on the route information in the storage part 15. A position calculation part 55 calculates the current position, based on the calculated wheel feature quantity and the measured wheel rotation amount. COPYRIGHT: (C)2006,JPO&NCIPI
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