| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile body control unit which controls a mobile body with high accuracy, using only the information about the direction of a mobile body on the basis of the direction of a sound source and traveling information of the mobile body. SOLUTION: The mobile body control unit estimates directions (θ<SB>1</SB>",θ<SB>2</SB>") of the mobile body (40), on the basis of the directions (50, 52) of the sound source (44) at two positions (P1, P2) on the trajectory of the mobile body (40), and determines the distance (l<SB>2</SB>) between the sound source (44) and the mobile body (40) by utilizing the distance (l) traveled between the two positions (P1, P2) and the directions (θ<SB>1</SB>",θ<SB>2</SB>") estimated at the two positions (P1, P2). COPYRIGHT: (C)2006,JPO&NCIPI
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