AUTONOMOUS MOBILE BODY, AUTONOMOUS MOBILE BODY CONTROL SYSTEM AND SELF-POSITION ESTIMATION METHOD FOR AUTONOMOUS MOBILE BODY

摘要

PROBLEM TO BE SOLVED: To provide an autonomous mobile body, an autonomous mobile body control system and a self-position estimation method for the autonomous mobile body, allowing easy and high-accuracy recognition of a self-position even in environment wherein relative position information of the self-position to peripheral environment cannot be sufficiently obtained.;SOLUTION: This autonomous mobile body is provided with: a self-position candidate calculation part calculating a self-position candidate of a mobile body main body; a self-position recognition part recognizing an estimated self-position based on the calculated self-position candidate; and a detection part detecting infrared light irradiated from an infrared irradiation part irradiating the infrared light including a peculiar ID signal. In the self-position recognition part, the self-position candidate calculated by the self-position candidate calculation part is corrected based on information related to the infrared light detected in the detection part, and the self-position candidate after the correction is recognized as the estimated self-position on a previously stored movement map.;COPYRIGHT: (C)2009,JPO&INPIT