Behavior controlling apparatus, behavior control method, behavior control program and mobile robot apparatus
First Claim
1. A behavior controlling apparatus for controlling the behavior of a mobile robot apparatus, said behavior controlling apparatus comprising:
- landmark recognition means for recognizing a plurality of landmarks arranged discretely;
landmark map building means for integrating the locations of said landmarks recognized by said landmark recognition means for building a landmark map based on the geometrical topology of said landmarks;
mobility area recognition means for building a mobility area map, indicating the mobility area where the mobile robot apparatus can move, from said landmark map built by said landmark map building means; and
behavior controlling means for controlling the behavior of said mobile robot apparatus using the mobility area map built by said mobility area recognition means.
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Accused Products
Abstract
A behavior controlling apparatus by which the mobility area of a robot apparatus may be controlled in a simplified manner using plural landmarks. A landmark recognition unit 410 uniquely recognizes the landmarks to acquire the landmark position information rPo(x,y,z). A landmark map building unit 420 integrates the totality of the landmark position information rPo(x,y,z) sent by the landmark recognition unit 410 to build a landmark map which has integrated the geometric topology of the landmarks. Using the landmark map information rPo×N, a mobility area recognition unit 430 builds a mobility area map representing a mobility area for the robot. Using the mobility area map, sent from the mobility area recognition unit 430, a behavior controller 440 controls the autonomous behavior of the robot apparatus 1 so that the robot apparatus 1 will not come out of or into the mobility area.
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Citations
8 Claims
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1. A behavior controlling apparatus for controlling the behavior of a mobile robot apparatus, said behavior controlling apparatus comprising:
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landmark recognition means for recognizing a plurality of landmarks arranged discretely;
landmark map building means for integrating the locations of said landmarks recognized by said landmark recognition means for building a landmark map based on the geometrical topology of said landmarks;
mobility area recognition means for building a mobility area map, indicating the mobility area where the mobile robot apparatus can move, from said landmark map built by said landmark map building means; and
behavior controlling means for controlling the behavior of said mobile robot apparatus using the mobility area map built by said mobility area recognition means. - View Dependent Claims (2, 3)
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4. A behavior controlling method for controlling the behavior of a mobile robot apparatus, said behavior controlling method comprising:
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a landmark recognition step of recognizing a plurality of landmarks arranged discretely;
a landmark map building step of integrating the locations of said landmarks recognized by said landmark recognition step for building a landmark map based on the geometrical topology of said landmarks;
a mobility area recognition step of building a mobility area map, indicating the mobility area where the mobile robot apparatus can move, from said landmark map built by said landmark map building means; and
a behavior controlling step of controlling the behavior of said mobile robot apparatus using the mobility area map built by said mobility area recognition means.
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5. A behavior controlling program run by a mobile robot apparatus for controlling the behavior of said mobile robot apparatus, said behavior controlling program comprising:
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a landmark recognition step of recognizing a plurality of landmarks arranged discretely;
a landmark map building step of integrating the locations of said landmarks recognized by said landmark recognition step for building a landmark map based on the geometrical topology of said landmarks;
a mobility area recognition step of building a mobility area map, indicating the mobility area where the mobile robot apparatus can move, from said landmark map built by said landmark map building means; and
a behavior controlling step of controlling the behavior of said mobile robot apparatus using the mobility area map built by said mobility area recognition means.
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6. A mobile robot apparatus including at least one movable leg and a trunk provided with information processing means, said mobile robot apparatus moving on a floor surface as the apparatus recognizes an object on said floor surface, said mobile robot apparatus comprising:
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landmark recognition means for recognizing a plurality of landmarks arranged discretely;
landmark map building means for integrating the locations of said landmarks recognized by said landmark recognition means for building a landmark map based on the geometrical topology of said landmarks;
mobility area recognition means for building a mobility area map, indicating the mobility area where the mobile robot apparatus can move, from said landmark map built by said landmark map building means; and
behavior controlling means for controlling the behavior of said mobile robot apparatus using the mobility area map built by said mobility area recognition means. - View Dependent Claims (7, 8)
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Specification