Title:
Self-position posture presumption system
Document Type and Number:
Japanese Patent JP5909486
Kind Code:
B2
Abstract:
In an autonomous mobile robot, an objective is to carry out a location and attitude estimation using a particle filter, derive a location and attitude estimate table value from a particle dispersion as an assessment quantity of the state of the location and attitude estimation, and carry out deceleration and stopping of the mobile robot. A mobile robot comprises a distance sensor for estimation of the mobile robot's own location and attitude. The mobile robot further comprises: a location and attitude estimation unit which estimates the location and attitude of the robot by comparing measurement data of the distance sensor with map data; and a location and attitude estimate evaluation value computation unit which computes the reliability of the result of the location and attitude estimation. Using the location and attitude estimate evaluation value allows carrying out deceleration, stopping, and map updates of portions wherein environmental changes have occurred, allowing safe autonomous movement.
Inventors:
Shuichi Maki
Takamoto Matsumoto
Ryozo Masaki
Takamoto Matsumoto
Ryozo Masaki
Application Number:
JP2013522770A
Publication Date:
April 26, 2016
Filing Date:
June 19, 2012
Export Citation:
Assignee:
Hitachi Industrial Equipment Systems Co., Ltd.
International Classes:
G05D1/02
Domestic Patent References:
| JP2009217333A | ||||
| JP2010176283A |
Attorney, Agent or Firm:
Polaire Patent Business Corporation