PROBLEM TO BE SOLVED: To provide an autonomous mobile body capable of keeping a self position with high reliability.SOLUTION: An autonomous mobile body 100 for autonomously moving to a target place by measuring a self position with use of a sensor 103 and controlling movement means 101 comprises: sensor information acquisition means 141 for acquiring sensor information on a self position; position estimation means 142 for estimating a self position on the basis of the sensor information; reliability calculation means 143 for calculating reliability of the estimated self position; position reliability recording means 144 for recording the reliability and the estimated self position in association with each other; and reliability recovery action control means 145 for, if the reliability satisfies a predetermined condition, controlling the movement means 101 to move the mobile body to a position with high reliability on the basis of the information recorded by the position reliability recording means.SELECTED DRAWING: Figure 2

    【課題】自己位置を高い信頼度で維持し続けることのできる自律移動体の提供。【解決手段】自己位置をセンサ103で計測し移動手段101を制御して目的の場所に自律的に移動する自律移動体100であって、自己位置に関するセンサ情報を取得するセンサ情報取得手段141と、センサ情報に基づき自己位置を推定する位置推定手段142と、推定される自己位置の信頼度を算出する信頼度算出手段143と、信頼度と推定された自己位置とを紐付けて記録する位置信頼度記録手段144と、信頼度が所定の条件を満たした場合、位置信頼度記録手段により記録された情報に基づき信頼度の高い位置に移動するよう移動手段101を制御する信頼度回復行動制御手段145とを備える自律移動体。【選択図】図2


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    Title :

    AUTONOMOUS MOBILE BODY


    Additional title:

    自律移動体


    Contributors:

    Publication date :

    2017-10-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge



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