CONTROL SYSTEM, MOVING ROBOT APPARATUS HAVING THE CONTROL SYSTEM, AND A CONTROL METHOD THEREOF

A moving robot apparatus and a control system and method thereof. A current state variable (e.g., the current direction of the main body of the robot apparatus) may be estimated using current data output from a sensor part of the robot apparatus. Initially, it is determined whether the current data output from the sensor part satisfy a necessary condition. The necessary condition may be considered to be satisfied when the current data are unaffected by a disturbance or external interference (e.g., the earth's magnetic field.). Thereafter, a current sample value may be extracted from a previous sample value obtained from the sensor part. The previous sample value may relate to a previous state variable (e.g., a previous direction of the robot main body). A weight of the current data may be calculated based on the current sample value. A value of the weight may depend on whether the necessary condition is satisfied by the current data. The current state variable is then estimated based on the extracted current sample value and the calculated weight. A control of the directional movement of the robot main body may be provided based on the estimated current state variable. A control system may be provided to accurately estimate, using a probability distribution, the direction of the robot main body when it can not be determined whether or not an external disturbance is reflected in the data output from the sensor part.