SELF-POSITION ESTIMATION METHOD FOR AUTONOMOUS MOBILE ROBOT, AUTONOMOUS MOBILE ROBOT, AND LANDMARK FOR SELF-POSITION ESTIMATION

摘要

PROBLEM TO BE SOLVED: To estimate a self-position of an autonomous mobile robot inexpensively and precisely.;SOLUTION: A self-position estimation method for an autonomous mobile robot in accordance with one embodiment of the present invention includes: a detection step to detect T-shaped landmarks 30 arranged in a right and left zigzag pattern on safety fences 102 provided on both sides of a safety passage 101 through which the autonomous mobile robot 1 travels by use of a range sensor; an acquisition step to acquire information concerning a self-position of the autonomous mobile robot 1 estimated as a result of photographing the T-shaped landmarks 30 and the images of ceiling camera markers 15 and 31 arranged on the top surface of the autonomous mobile robot 1 by a high resolution ceiling camera group 2a arranged on a ceiling in an indoor environment; and an estimation step to estimate the self-position of the autonomous mobile robot 1 based on a probability statistical algorithm technique using positions and directions of the T-shaped landmarks 30 detected in the detection step, and to estimate the self-position using the estimated self-position and the information concerning the self-position acquired in the acquisition step.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2016,JPO&INPIT