Patent Document ID: 8630735
Application ID: 13269027
Patent Flag: 1

Claim One:
1. A method for estimating a pose of a mobile robot using a particle filter, the method comprising: sampling current particle on basis of initial position of the mobile robot; detecting a change in pose of the mobile robot and calculating pose of the current particle by applying the detected change in pose to a previous particle; predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information; resampling the current particle on the basis of the weight; and adjusting the weight in consideration of an error of the sensor, wherein the detecting of the change in pose of the mobile robot and the calculating of the pose of the current particle by applying the detected change in pose to the previous particle comprises updating the pose of the current particle in a direction where the position probability increases by using a hill climbing method, and wherein the probability is a variable which is calculated using an error ratio based on accuracy of the sensor.