MOVING ROBOT SYSTEM AND CONTROL METHOD THEREFOR

PROBLEM TO BE SOLVED: To reduce a storage volume of a map, to quickly access to a map database in estimation, and to reduce a processing time for data preparation in accompaniment to moving of a robot, compatibly at the same time, in a moving robot system moving while estimating own positional posture by collating a sensing data with the map. SOLUTION: This moving robot system is provided with an entire map storage means 160 for managing an entire map, a partial map storage means 170 for managing continuously map areas required for estimating the positional posture as partial maps, and a partial map updating means 150 for updating a content of the partial map storage means 170. The partial map updating means 150 selects and extends only a block not written yet on the partial map storage means, out of the map areas required for estimating the positional posture of the robot, based on a positional posture estimation initial value of the robot, and updates the stored content to make the spatially continuous areas get to continuous areas on a memory. COPYRIGHT: (C)2009,JPO&INPIT