Moving locus calculation system, control method and program for calculating moving locus calculation system

摘要

PROBLEM TO BE SOLVED: To provide a movement locus calculating system capable of further efficiently locating a revisit point of a mobile body and reducing a processing load in calculating a movement locus of the mobile body.;SOLUTION: A movement locus calculating system mounted on a mobile body, for calculating a movement locus of the mobile body by detecting a change in a position of the mobile body relative to an object present in the outside world comprises: a scan data acquiring unit which acquires scan data including the distance and azimuth to each point calculated by a distance sensor mounted on the mobile body in a prescribed cycle; a movement vector calculating unit which calculates a movement vector of the mobile body by collating the scan data acquired at a first timing with the scan data acquired at a second timing; a position information calculating unit which calculates position information at each passing point of the mobile body by accumulating movement vectors; and a revisit point detecting unit which detects a passing point whose distance from the current position of the mobile body is smaller than a prescribed value and becomes a local minimum value from among passing points as a revisit point of the mobile body.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2018,JPO&INPIT