A STORAGE MEDIA FOR STORING AN ANTICIPATORY BAYES FILTER AND LOCALIZATION OF ROBOT USING THE ANTICIPATORY BAYES FILTER

摘要

PURPOSE: A storage media for storing an anticipatory Bayes filter and localization of a robot using the anticipatory Bayes filter are provided to supply a predictive Bayes filter having enhanced reliability and accuracy by rationally correcting an external observation value and reflecting the corrected external observation value to a sensor model. CONSTITUTION: An intermediate reliability for the position state after a control operation is obtained(S1), and the measurement value of the sensor estimated in the position state is a sensor estimation value. A sensor correction value approximate to the sensor estimation value is obtained based on the difference between a sensor measurement value and the sensor estimation value measured in the position state of a robot(S4). The reliability for the position state of the robot is obtained by multiplying the probability value for the sensor correction value by the intermediate reliability. The sensor correction value is proportion to the difference between the sensor measurement value and the sensor estimation value and is determined to be approximate to the sensor estimation value(S6).