SELF-TRAVELLING CONTROL PROGRAM AND SELF-TRAVELLING WORK DEVICE
To provide a self-travelling control program that can improve the accuracy of self-position estimation and environmental map construction compared to conventional methods when moving toward a destination and performing work, and a self-travelling work device equipped with a computer that can run thi...
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Format: | Patent |
Sprache: | eng ; jpn |
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Zusammenfassung: | To provide a self-travelling control program that can improve the accuracy of self-position estimation and environmental map construction compared to conventional methods when moving toward a destination and performing work, and a self-travelling work device equipped with a computer that can run this program.SOLUTION: The self-travelling control program functions as: global self-position estimating means that uses SLAM technology to estimate a global self-position based on a self-direction and relative positional relationship on an environmental map; environmental map updating means for updating environmental map data; current position estimating means for estimating a current self-position by using the SLAM technology in the environmental map updated by the environmental map updating means; and movement amount prediction means for predicting movement amount of a self-travelling part from a predetermined motion model of the self-travelling part, where the current position estimating means estimates the self-position by using the SLAM technology based on an evolutionary strategy using the movement amount predicted by the movement amount prediction means.SELECTED DRAWING: Figure 5
【課題】自走式作業装置が目的地に向けて移動して作業を行う際、従来よりも自己位置推定および環境地図構築の精度を向上させることが可能な自走制御プログラムと、このプログラムを実行可能なコンピュータを備えた自走式作業装置を提供する。【解決手段】自走制御プログラムは、SLAM技術を用いて環境地図における自己の方向および相対的な位置関係について大域的な自己位置の推定を行う大域的自己位置推定手段、環境地図のデータを更新する環境地図更新手段、環境地図更新手段によって更新された環境地図において、SLAM技術を用いて現在の自己位置の推定を行う現在位置推定手段、自走部の所定の運動モデルから自己の移動量を予測する移動量予測手段、として機能し、現在位置推定手段は、移動量予測手段によって予測された移動量を利用した進化戦略に基づくSLAM技術を用いて自己位置の推定を行うことを特徴とする。【選択図】図5 |
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