| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous traveling robot which can surely correct an error between a traveling direction presumed with a traveling direction presumption means and an actual traveling direction. SOLUTION: The longest directed line segment on a map is selected as a base line 202, the attitude of the autonomous traveling robot body is adjusted so that it becomes parallel with a face of an obstacle in a real environment which corresponds to the base line when the autonomous traveling robot body turns near the base line, and the direction of the directed line segment forming the base line is substituted for the traveling direction presumed with the traveling direction presumption means 21f, so that the error of the traveling direction outputted from the traveling direction presumption means 21f is corrected. COPYRIGHT: (C)2004,JPO
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