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Behavior controlling apparatus, behavior control method, behavior control program and mobile robot apparatus

  • US 20040230340A1
  • Filed: 03/26/2004
  • Published: 11/18/2004
  • Est. Priority Date: 03/28/2003
  • Status: Abandoned Application
First Claim
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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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