| 摘要 |
PURPOSE: To prepare a peripheral map of a further improved cell structure by improvement of localization of a self-running mobile unit in the peripheral map. CONSTITUTION: A sensor is used to obtain the distance from the sensor to a peripheral object, and an accurate coordinate reference point in an origin cell in a peripheral map UK is used for a specific position of a self-running mobile unit SE, the degree of occupancy is assigned at least to each cell to confirm the position of a peripheral object in the peripheral map UK and the cell is obtained relatively with respect to the coordinate reference point based on the specified position and the interval by taking the arranged position of the sensor into account.
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