Attitude presumption manner of the mobile robot of the particle filter infrastructure, the device and media

摘要

PROBLEM TO BE SOLVED: To provide a method, apparatus, and medium for estimating a posture of a mobile robot based on a particle filter base.;SOLUTION: The method for estimating the posture of the mobile robot based on the particle filter base includes: sampling a current particle at a current posture of the mobile robot; detecting a change in the posture of the mobile robot and calculating the posture of the current particle by applying the detected change in posture to the previous particle; predicting the probability of the posture of the current particle and obtaining a weighted value of the current particle from range data obtained by a sensor and map information; resampling the current particle on the basis of the weighted value; and adjusting the weighted value in consideration of an error of the sensor.;COPYRIGHT: (C)2008,JPO&INPIT