We have previously developed a navigation system for an autonomous mobile robot. It can find the landmarks on the ceiling to move and work. However, when the robot fails to recognize a landmark, the robot can not calculate 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 proposed this module for the final module of error recovery in HALAS(Hierarchical Adaptive and Learning Architecture System)that have been proposed as Hierarchical System by us.
