公开(公告)号：US20230367330A1

公开(公告)日：2023-11-16

申请号：US18246106

申请日：2021-09-24

Applicant: SONY GROUP CORPORATION

Inventor： EIICHIRO MORINAGA ,  JUNICHIRO MISAWA ,  TATSUYA ISHIKAWA ,  HIROYUKI KAMATA ,  KAZUTAKA TAKAKI

IPC: G05D1/02

CPC classification number: G05D1/0268

Abstract: The present disclosure relates to an autonomous mobile device, a control method, and a program which enable higher-speed self-position estimation with higher accuracy and with a smaller calculation load. Provided is an autonomous mobile device including: a sensor unit including at least a first sensor that detects an angular velocity, a second sensor that is installed in a housing and detects a speed of a wheel, and a third sensor that detects a displacement amount on a two-dimensional plane; and a self-position estimation unit that estimates a self-position on the basis of parameters calculated by the sensor unit, the self-position estimation unit using a predetermined parameter suitable for a predetermined condition among the parameters of the respective sensors calculated by the sensor unit when estimating the self-position. The present disclosure can be applied to, for example, an autonomous mobile robot device.