To provide a control device for mobile robot which reduces the influence of the delay of position estimation processing based on an external sensor, can be positioned accurately to a target position, uses many external sensors or position estimation processing algorithm, without needing any additional cost.

This control device of a mobile robot is provided with a measurement estimated position storage part for storing an estimated current position in environment measurement by an external sensor, and configured to correct the position estimation result based on the external sensor by using the stored estimated current position in the environment measurement and the estimated current position in the previous period.

COPYRIGHT: (C)2009,JPO&INPIT