AUTONOMOUS MOBILE ROBOT, SELF-POSITION ESTIMATION METHOD, ENVIRONMENT MAP GENERATION METHOD, ENVIRONMENT MAP GENERATING DEVICE, AND ENVIRONMENT MAP DATA STRUCTURE

摘要

To improve the accuracy of the self position estimation of a mobile robot. A robot 1 measures a distance to an object in the mobile environment by using a range sensor 11. An environmental map storage unit 13 stores an environmental map containing a plurality of map data each corresponding to a respective one of plurality of measurement directions from which a point in the mobile environment is to be observed. A self position estimation unit 14 selects a map data corresponding to a measurement direction in which a distance to the object is measured by the range sensor 11 from the plurality of map data. Then, the self position estimation unit 14 estimates a self position of the mobile robot 1 based on the selected map data and range data obtained by the range sensor 11.