Title:
AUTONOMOUS MOVEMENT METHOD AND AUTONOMOUS MOBILE BODY
Document Type and Number:
WIPO Patent Application WO/2011/061924
Kind Code:
A1
Abstract:
Disclosed is an autonomous movement method capable of preventing a robot from erroneous recognizing a self position even when performing autonomous movement using environmental magnetism outdoors. The autonomous movement method is a method for autonomously moving a mobile body by comparing environmental magnetism data acquired by prior measurement of magnetism generated along a movement path traversed by a mobile body (100) with measured magnetism detected by measuring the magnetism generated along the movement path when the mobile body (100) follows the movement path in movement; wherein the method is provided with a step (a) for detecting a first measured magnetism and a second measured magnetism at different positions atop the mobile body (100); and a step (b) for autonomously moving the mobile body (100) on the basis of the second measured magnetism that is detected by a magnetic sensor (103) that is not affected by unpredicted magnetism (G) not included in the environmental magnetism data, and the environmental magnetism data.
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Inventors:
OZAKI, Koichi (C/O UTSUNOMIYA UNIVERSITY, 1-2 Yoto 7-chome, Utsunomiya-sh, Tochigi 85, 〒3218585, JP)
尾崎 功一 (〒85 栃木県宇都宮市陽東７丁目１番地２号 国立大学法人宇都宮大学内 Tochigi, 〒3218585, JP)
尾崎 功一 (〒85 栃木県宇都宮市陽東７丁目１番地２号 国立大学法人宇都宮大学内 Tochigi, 〒3218585, JP)
Application Number:
JP2010/006716
Publication Date:
May 26, 2011
Filing Date:
November 16, 2010
Export Citation:
Assignee:
UTSUNOMIYA UNIVERSITY (350 Mine-machi, Utsunomiya-shi Tochigi, 05, 〒3218505, JP)
国立大学法人宇都宮大学 (〒05 栃木県宇都宮市峰町３５０ Tochigi, 〒3218505, JP)
OZAKI, Koichi (C/O UTSUNOMIYA UNIVERSITY, 1-2 Yoto 7-chome, Utsunomiya-sh, Tochigi 85, 〒3218585, JP)
国立大学法人宇都宮大学 (〒05 栃木県宇都宮市峰町３５０ Tochigi, 〒3218505, JP)
OZAKI, Koichi (C/O UTSUNOMIYA UNIVERSITY, 1-2 Yoto 7-chome, Utsunomiya-sh, Tochigi 85, 〒3218585, JP)
International Classes:
G05D1/02
Attorney, Agent or Firm:
OBA, Mitsuru et al. (OBA & ASSOCIATES, 8F KM Building, 4-3, Iwamotocho 1-chome, Chiyoda-k, Tokyo 32, 〒1010032, JP)
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