A SIMULTANEOUS LOCALIZATION AND MAP BUILDING METHOD OF MOBILE ROBOT USING VANISHING POINT

摘要

the present invention, the sensing unit and the storage unit and the detection unit and a control unit in electrical communication with the control unit forms the and initialization step for initializing the input condition including the relative rotational angle of the absolute coordinate system of the robot comprises a mobile device, and the prediction step to predict a current state of the robot apparatus move, based on the input state, the sensing unit surroundings sensing step for sensing, a constant angle for the translational motion and extract the vanishing point on the straight path to the straight path and the straight path to the surrounding environment on the basis of the detection signal with respect to the surroundings is detected in the detection step and a vanishing point and translation invariant angle calculation step of calculating, determining whether to save the vanishing point and an angle from the normal line relative to the straight path of the expected value is calculated based on the relative angle and the normal translation constant angle relative to the straight line calculating output data associated with the innovation, there is provided a robot movement device mapping comprises adding an update to update the state of the input state based on the result of the data association step.