MOBILE ROBOT AND SELF LOCATION AND ATTITUDE ESTIMATION SYSTEM INSTALLED UPON MOBILE BODY

摘要

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.