| 摘要 |
PURPOSE:To attain the stable and high speed guidance of a mobile robot even in a complicated environment where many obstacles exist by designing again the routes within the environment if the estimated position and posture of the robot are much different from the actual position and posture. CONSTITUTION:An estimating/planning part 3 plans a method to observe the guideposts included in a part or whole of an environment for estimation of the position and the posture of a mobile robot. Then a position estimating part 7 starts the processing at a spot C to observe the environment and to estimate the position of the robot. Meanwhile a shift control part 4 controls the robot moving toward a spot B. Then a position updating part 8 updates the estimated position and posture of the robot at a spot D where the part 7 completed estimation of the position and the posture of the robot at the spot C based on the estimated positions and postures calculated by the part 4 at both spots C and D and the position and the posture which are newly estimated by the part 7 at the spot C. Then a route planning part 1 designs part 1 designs again a route reaching a target spot B from the updated position. |
