We have previously developed a navigation system for an autonomous mobile robot. It can find the landmarks on the ceiling for navigation. However, when the robot fails to recognize a landmark, the robot can not calculate the self-position. So, the robot has to prepare for the behavior of error recovery. But an error that is not able to recover may occur. In such a case, the robot needs to relocate the self-position. In this paper, we define global matching as the behavior that is able to relocate the self-position and propose to use this module for the error recovery in HALAS (hierarchical adaptive and learning architecture system) that we have proposed as a hierarchical system.

We have previously developed a navigation system for autonomous mobile robots. It can find landmarks on the ceiling to move and work. However, it is impossible to recognize landmarks when the size of landmark is different from the size of template. In such cases, the robot cannot continue to work. Therefore we proposed variable template matching (VTM) that makes it possible to recognize landmarks of different sizes. We realize VTM by using the optimization method called the evolution strategy (ES). The robot can recognize the landmark faster, inferring landmark parameters by binary density projection.