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

摘要

The precision of self-position estimation by a mobile robot will be improved. The robot (1) measures the distance to objects in the movement environment using a distance sensor (11). An environment map that includes a plurality of map data corresponding to each direction when points in the movement environment are viewed from a plurality of directions is stored in an environment map storage part (13). From the plurality of map data, a self-position estimation part (14) selects the map data corresponding to the measurement direction when an object's distance is measured by the distance sensor (11). The self-position estimation part (14) then estimates the position of the robot (1) based on the selected map data and the distance data obtained by the distance sensor (11).