Patent ID: 11926038
Assignee: SONY GROUP CORPORATION
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 15:
16. An information processing apparatus, comprising:
a first sensor unit configured to periodically sense internal world information associated with an autonomous mobile object to output a plurality of first sensing results;
a second sensor unit configured to sense external world information associated with the autonomous mobile object to output a second sensing result; and
a controller configured to:
determine a state of the autonomous mobile object is one of a stopped state or a moving state;
determine, based on the state of the autonomous mobile object, whether a first estimation method or a second estimation method is to be used by the autonomous mobile object for an estimation of a self-position of the autonomous mobile object; and
replan, at each timing of a plurality of timings when the state of the autonomous mobile object is changed from the moving state to the stopped state, a moving path of the autonomous mobile object after each timing of the plurality of timings based on the self-position and a given destination of the autonomous mobile object,
wherein the self-position is estimated by the second estimation method at each timing of the plurality of timings.