| 摘要 |
PURPOSE:To interruptedly correct the estimated position of an unattended moving body due to dead-reckoning navigation by interruptedly arranging at least pairs of markers having recurrent reflexivity or light emissivity along a reference route on a running path. CONSTITUTION:At least pairs of markers 8 having recurrent reflexivity or light emissivity are interruptedly arranged along a reference route 15 on the running path of an unattended moving body 1, and the unattended moving body is provided with a visual means 6 which recognizes markers and a memory means 11 where coordinate positions of markers are preliminarily stored. The angle and the position of deflection of the unattended moving body 1 to the reference route 15 and the distance to the moving body from a segment vertically crossing the reference route 15 on a marker are obtained based on the marker 8 recognized by the visual means 6. Current position and attitude of the unattended moving body 1 are detected on a basis of these obtained angle and position of deflection and distance and stored contents of the memory means 11, and the position and the attitude calculated by dead-reckoning navigation are interruptedly corrected by these detected position and attitude.
|
