AUTONOMOUS MOBILE DEVICE AND SELF-POSITION ESTIMATION METHOD OF AUTONOMOUS MOBILE DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an autonomous mobile device capable of reliably estimating self-position.;SOLUTION: An autonomous mobile device 1 includes: a first sensor 2 that acquires a piece of circumstance information around itself; and a control section 4 that controls a movable part 3 based on the self-position. The control section 4 includes: a first estimation section 5 that calculates a first estimation value which represents a self-position by estimating using a stochastic technique based on the circumstance information; and a second estimation section 6 that calculates a second estimation value representing a self-position by estimating using a matching technique based on the circumstance information. The control section 4 is configured to change a second estimation range when the second estimation section 6 calculates the second estimation value according to the first estimation value to control the movable part using the second estimation value as the self-position.;COPYRIGHT: (C)2015,JPO&INPIT