JPS6234784A - Method of controlling movement of moving body - Google Patents
Method of controlling movement of moving bodyInfo
- Publication number
- JPS6234784A JPS6234784A JP60170291A JP17029185A JPS6234784A JP S6234784 A JPS6234784 A JP S6234784A JP 60170291 A JP60170291 A JP 60170291A JP 17029185 A JP17029185 A JP 17029185A JP S6234784 A JPS6234784 A JP S6234784A
- Authority
- JP
- Japan
- Prior art keywords
- moving
- mobile robot
- moving obstacle
- point
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 16
- 239000013598 vector Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】 (イ)発明の目的 [産業上の利用分野] 移動ロボット等の移動制御に利用する。[Detailed description of the invention] (b) Purpose of the invention [Industrial application field] Used for movement control of mobile robots, etc.
[従来の技術1
移動ロボットは、人聞が行うことが危険或は困難な、移
動を伴う作業を、人間に代って遂行するものである。[Prior Art 1] Mobile robots perform tasks that require movement, which are dangerous or difficult for humans to perform, in place of humans.
従って、移動ロボットの設計に当っては、−移動する他
の物体、例えば人や車、他の移動ロボット等との衝突を
回避すべく、他の移動体の移動に対応して速やかに実l
l、V間で自身の移動を制御し得る移動体の移動!へ方
法の開発が不可欠である。Therefore, when designing a mobile robot, - To avoid collisions with other moving objects, such as people, cars, and other mobile robots, it is important to
Movement of a moving body that can control its own movement between l and V! It is essential to develop methods for this purpose.
[発明が解決しようとする問題点]
しかるに従来は、静止障害物を検出し、この障害物との
衝突を回避することは考えられているがこのような移動
障害物に対し、充分な即応性を有1゛る有効な移動制0
I17′I法は開発されていなかった。[Problems to be Solved by the Invention] Conventionally, however, it has been considered to detect stationary obstacles and avoid collisions with these obstacles, but it has not been possible to respond sufficiently quickly to such moving obstacles. Effective movement system with 0
The I17'I method had not been developed.
この発明は上記の如き事情に鑑みてなされたちのであっ
て、移動ロボットが移動しながら他の移動体である移動
障害物を検出し、そのまま移動した場合にその移動体と
衝突することになるか否かを、時々刻々に極めて速やか
に推定することができ、かつその推定に基づいて、加速
、減速、方向転換等、衝突回避のための移動速度の制御
を行い得る移動体の移動制御方法を提供することを目的
としている。This invention was made in view of the above circumstances, and if a mobile robot detects a moving obstacle, which is another moving object, while moving, and continues to move, it will collide with that moving object. The present invention provides a movement control method for a moving object that can extremely quickly estimate whether or not the collision is a collision, and based on the estimation, can control the movement speed such as acceleration, deceleration, direction change, etc. for collision avoidance. is intended to provide.
(ロ)発明の構成
E問題を解決するための手段]
この目的に対応して、この発明の移動体の移動制御方法
は、移動体が他の移動障害物との衝突を回避する移動制
御方法であって、前記移動体はその中心位置Aから等距
離にある点からなる図形の形状を有するとみなしかつ前
記移動障害物はその中心位置Bから等距離にある点から
なる図形の形状を有するとみなしたときの点Aから見た
点Bの相対位置と相対速度とを測定しかつ前記移動障害
物の半径r2を推定し相対位置と相対速度の内積が負の
場合に、これらの測定値・推定値と前記移Oノ体の半径
r1とを用いて点Bが前記相対位置から前記相対速度で
直進した場合の道路に当るlIJ線と点Aとの距離りを
51算し、Dとr1+「2を比較し、Dがr 1 +
r 2より小さいとぎにはDがr 1 + r 2より
大きくなるように前記移動体の速度を変化させるという
操作を時々刻々行うことを特徴としている。(B) Structure of the Invention Means for Solving Problem E] Corresponding to this object, a movement control method for a moving body according to the present invention is a movement control method in which a moving body avoids collision with another moving obstacle. The moving object is considered to have a graphic shape consisting of points equidistant from its center position A, and the moving obstacle is assumed to have a graphic shape consisting of points equidistant from its center position B. Measure the relative position and relative velocity of point B as seen from point A and estimate the radius r2 of the moving obstacle, and if the inner product of the relative position and relative velocity is negative, these measured values・Using the estimated value and the radius r1 of the moving O body, calculate 51 the distance between point A and the lIJ line that corresponds to the road when point B moves straight from the relative position at the relative speed, and calculate D. r1 + "Compare 2, D is r 1 +
The present invention is characterized in that when D is smaller than r 2 , the speed of the moving body is changed from time to time so that D becomes larger than r 1 + r 2 .
以下、この発明の詳細を一実施例を示す図面について説
明する。Hereinafter, details of the present invention will be explained with reference to the drawings showing one embodiment.
まず、移動体である移動ロボットと移動障害物とが2次
元空間で移動する場合を考える。即ち、移動ロボットと
移動障害物とを移動[1ホツトの歩行面と平行な一定平
面上を運動する平面図形と考え、その衝突回避を考える
。First, consider a case where a mobile robot as a moving object and a moving obstacle move in a two-dimensional space. That is, the mobile robot and the moving obstacle are considered to be planar figures that move on a fixed plane parallel to the walking surface, and collision avoidance is considered.
まず、移動ロボッI〜の形を半径r1の円で近似する。First, the shape of the mobile robot I~ is approximated by a circle with radius r1.
この円としては、移動ロボットの外接円でもよいし、或
は半径に余裕をもたせた、移動ロボットを内包する円で
もよい。This circle may be a circumcircle of the mobile robot, or a circle with a radius that includes the mobile robot.
一方、移動障害物も半径r2の円で近似する。On the other hand, a moving obstacle is also approximated by a circle with radius r2.
ここで、移動障害物の仝休の形や大ぎさは移動ロボッ1
〜には検出できない。即ら、移動ロボットが移動障害物
を検出する方法は、第3図に示すように、移動ロボット
1の1点の発光点Aがら移動Dボッ1−の周囲の空間に
レーザ光や超音波の細いビーム2を発して、発光点Aの
回りに回転しつつ走査し、その反射の有無、反射部分の
中心角θ、反射に要する時間によって移動障害物3の有
無、大きさと位置を推定するものであり、レーザ光等の
反射の得られない陰の部分3aの形や大きさは検出でき
ない。そこで、移動障害物の仝休が円であると見なした
場合の半径r2を、レーザ光等の反射部分の大きさから
大きめに推定して、移動障害物3を半径r2の円で近似
するものである。Here, the shape and size of the rest of the moving obstacle are determined by the mobile robot 1.
cannot be detected in ~. That is, the method for a mobile robot to detect a moving obstacle is to emit laser light or ultrasonic waves from one light emitting point A of the mobile robot 1 to the space around the moving robot 1-, as shown in FIG. A device that emits a thin beam 2, scans it while rotating around the light emitting point A, and estimates the presence or absence, size, and position of a moving obstacle 3 based on the presence or absence of reflection, the central angle θ of the reflection part, and the time required for reflection. Therefore, it is impossible to detect the shape and size of the shadow portion 3a where laser light or the like cannot be reflected. Therefore, assuming that the rest of the moving obstacle is a circle, the radius r2 is estimated to be larger based on the size of the reflected part of the laser beam, etc., and the moving obstacle 3 is approximated by a circle with radius r2. It is something.
移動障害物3の時々刻々の位置、即ち前記半径r2の円
の中心の位置(X 2(1)、V2(1))、及び速度
2 (X’ 2 (j) 、 y′2 (jン)は、
前記レーザ光等を用いた測定により1qられるがら、問
題は、第4図に示すような半径r1、中心の位置ベクト
ル6式(XI 、 Vl )、速度1 = a S +
b jで移動し移動ロボット1を近似する円C1と、半
径r2、中心の位置ベクトルU(x2.y2) 、速度
2=ci+djで移動し移動障害物3を近似する円C2
とは、移動ロボット1がそのままiri進する場合に衝
突するが否かをチェックする問題に置きかえられる。こ
こに、i、jはそれぞれX@、yNh向の大きざ1のベ
クトルとし、
(xl−x2) + (yl−y2 )2> (r1
+ r2 )
とする。The momentary position of the moving obstacle 3, that is, the position of the center of the circle with the radius r2 (X2(1), V2(1)), and the velocity 2(X'2(j), y'2(j) )teeth,
1q is determined by the measurement using the laser beam, etc., but the problem is that the radius r1, the center position vector 6 equations (XI, Vl), and the speed 1 = a S +
A circle C1 that moves at b j and approximates the mobile robot 1, and a circle C2 that moves at a radius r2, a center position vector U (x2.y2), and a speed 2=ci+dj and approximates the moving obstacle 3.
is replaced with the problem of checking whether or not there will be a collision if the mobile robot 1 continues forward. Here, i and j are vectors of size 1 in the X@ and yNh directions, respectively, and (xl-x2) + (yl-y2)2> (r1
+r2).
更に、両者の速度を考える代りに移動ロボットから見た
移動障害物の相対速度のみを考え、移動ロボットの速度
を0、移動障害物の速度を=v2−1
= (c−a)i+ (d−b)j
=ki十IIU
であると考えても、両者の衝突するが否かについての関
係は同等である。このベタ1〜ルと相対位置ベクトル’
KTJについて、7n・〉0(ただし・は内積を表′わ
ず)の場合、即ち障害物BはロボットΔから遠ざかる方
向に進lυでいる場合は、衝突のチェックをする必要が
ない。AB−vくOの場合には、詳しくチェックする必
要が生じる。その場合型に、移動ロボットの半径を0、
即ち移動ロボットを点、物体の半径をr=r1+r2と
考えても両者間の距離dABは変らないから両者の衝突
するか否かについての関係は同等である(第5図)。Furthermore, instead of considering the speeds of both, only the relative speed of the moving obstacle as seen from the mobile robot is considered, and the speed of the mobile robot is 0 and the speed of the moving obstacle is = v2-1 = (c-a)i+ (d -b) Even if we consider that j = ki + IIU, the relationship as to whether or not they collide is the same. This solid 1~le and relative position vector'
For KTJ, if 7n·>0 (where * does not represent an inner product), that is, if the obstacle B is moving lυ in the direction away from the robot Δ, there is no need to check for collision. In the case of AB-vkuO, it is necessary to check in detail. In that case, set the radius of the mobile robot to 0,
That is, even if we consider the mobile robot to be a point and the radius of the object to be r=r1+r2, the distance dAB between them does not change, so the relationship as to whether or not they will collide is the same (FIG. 5).
従って問題は、点へと点Bの相対位置ベクトルに百と相
対速度について内偵に百・〈0の時に中心B(x2.y
2)、半径r=r1+r2の円Cが速度一2−1で移動
するどきに円Cの進路に当たる領域、即ち、第5図に斜
線で示した、点B(x2.y2)が移動障害物の相対速
度で移動するときの進路に当たる直線mからの距離がr
以下である帯状の領域L1の中に点△(xl、Vl )
が含まれるか否かをチェックする問題に帰着される。Therefore, the problem is that when the relative position vector of point B is 100 and the relative velocity is 100/<0, the center B(x2.y
2) When circle C with radius r=r1+r2 moves at a speed of -2-1, the area that falls on the path of circle C, that is, the point B (x2.y2) shown with diagonal lines in Fig. 5, is a moving obstacle. The distance from the straight line m that corresponds to the course when moving at a relative speed of is r
A point △(xl, Vl) in the band-shaped area L1 that is
The problem comes down to checking whether or not it is included.
直線mの方程式は
m:j! (x X2 ) k (V V2 )
=0であるから、直線mと点A (xl、yl)との距
離りは
D= l 1 (xl−x2) −k (yl−y、、
) 115T万7
=Ik(y2 Vl)−j (X2 Xl ) I
/2“ ・・・(1)
で与えられ、
D≦r
ならば、移動ロボットがこのまま進むと衝突する、[)
>r
ならば、移動ロボットがこのまま進んで衝突しない、と
推定する。The equation of straight line m is m:j! (x X2) k (V V2)
= 0, so the distance between the straight line m and the point A (xl, yl) is D = l 1 (xl-x2) -k (yl-y,,
) 115T 7 = Ik(y2 Vl)-j (X2 Xl) I
/2"...(1) If D≦r, then if the mobile robot continues as it is, it will collide, [)
>r, it is estimated that the mobile robot will continue to move forward and will not collide.
第5図に示ず場合は、D<rであり、移動ロボットがこ
のまま進むと衝突するが、移動ロボットがただちに停止
すれば円Cの進路は2の方向となり、破線p1 、 l
)2で挾まれる内側の領域し。In the case not shown in Fig. 5, D<r, and if the mobile robot continues as it is, it will collide, but if the mobile robot stops immediately, the path of circle C will be in the direction of 2, and the dashed lines p1, l
) the inner area sandwiched by 2.
となり、これは点へを含まないから衝突は回避される。Since this does not include points, collisions are avoided.
第5図の場合は、移動ロボットは必ずしも停止する必要
はなく、減速即ち、1と同じ方向でV より小さな大き
ざをもつ速度3にすることによっても衝突は回避される
。即ち移動障害物の相対速度を1−3として、これと平
行な一点鎖線で示ず直線Q1.q2で挾まれる内側の領
域L1が円Cの進路であるようにしたとぎ、領域L1に
点Aが含まれないようにすればよい。In the case of FIG. 5, the mobile robot does not necessarily have to stop, and the collision can also be avoided by decelerating, that is, by reducing the speed to 3, which has a magnitude smaller than V in the same direction as 1. That is, assuming that the relative speed of the moving obstacle is 1-3, the straight line Q1. After setting the inner area L1 sandwiched by q2 to be the path of the circle C, it is sufficient to make the point A not included in the area L1.
同様に増速によっても衝突は回避される。即ち4に増速
し移動障害物の相対速度を1−4として、これと平行な
二点gt線S1.S2で挾まれる内側の領域L2が円C
の進路であるようにしたとさ、領域L2に点Aが含まれ
ないようにすれば良い。これらの減速・増速が移動ロボ
ットにとって不可能な急減速や不可能な速度への増速と
なる場合は方向転換を行うこととなる。実際、第5図の
場合方向転換して速度5にすれば、速さは増減ぜずにそ
のままで、円Cの進路領域は、v4に増速した場合と同
じL2となる。Collisions can also be avoided by increasing speed. That is, the speed is increased to 4, the relative speed of the moving obstacle is set to 1-4, and the two-point gt line S1. The inner region L2 sandwiched by S2 is circle C
If the path is set to be the path of , it is only necessary to make sure that point A is not included in region L2. If these decelerations and speed increases result in a sudden deceleration or speed increase that is impossible for the mobile robot, a direction change is performed. In fact, in the case of FIG. 5, if the direction is changed and the speed is increased to 5, the speed remains unchanged without increasing or decreasing, and the course area of circle C becomes L2, which is the same as when the speed is increased to v4.
従って、移動障害物の検出は、移動ロボットがその移動
空間で遭遇することが予想される移動障害物との距離が
前記した減速・増速若しくは方向転換を許容する距離で
ある時点で行うものとする。Therefore, detection of a moving obstacle shall be performed when the distance from the moving obstacle that the mobile robot is expected to encounter in its movement space is a distance that allows the above-mentioned deceleration, speed increase, or direction change. do.
ところで前記推定には、両者が円で近似されたことに起
因する不正確さがあるが、時々刻々この推定を行いつつ
移動することが可能ならば移動障害物に接近するに従っ
て移動ロボットから見えなかった陰の部分も、衝突の対
象となる時点以前に移動ロボットから見える部分に入る
ことになるから、最終的には実時間で正しい推定を得る
ことができることは明らかである。By the way, there is inaccuracy in the above estimation due to the fact that both are approximated by circles, but if it is possible to move while making this estimation from time to time, as it approaches a moving obstacle, it will become invisible to the mobile robot. It is clear that the correct estimation can be obtained in real time, since the shadowed part will also be visible to the mobile robot before it becomes the object of the collision.
さて、(1)式において、(k、jりは移動ロボットか
ら見た移動障害物の相対速度ベクトルの成分を表し、ま
た(X2 Xl 、 V2 Vl )は移動ロボッ
トの位MA(×1.yl)が原点となるように座標軸を
平行移動したときの移動障害物の座標、即ち移動ロボッ
トから見た移動障害物の相対位置であることは重要であ
る。即らとおけば
であるから
D= l x’ (t) y(t) −y’ (t)
x(t) l・・・(2)
となり、式(2)によれば第1図に示すような簡単なシ
ステム構成で、衝突するか否かの判別が高速で実時間で
可能となる。(但し第1図にお(〕る微分は、相対速度
が別途センサから求められる場合は必要ない。)
このシステム構成は3次元にも簡単に拡張できる。Now, in equation (1), (k, j) represent the components of the relative velocity vector of the moving obstacle as seen from the mobile robot, and (X2 Xl , V2 Vl ) is the position MA (×1.yl ) is the coordinate of the moving obstacle when the coordinate axis is translated in parallel so that it becomes the origin, that is, it is the relative position of the moving obstacle as seen from the mobile robot.That is, if D= l x' (t) y(t) -y' (t)
x(t) l (2) According to equation (2), with a simple system configuration as shown in FIG. 1, it is possible to determine whether or not there will be a collision at high speed in real time. (However, the differentiation shown in FIG. 1 is not necessary if the relative velocity is obtained from a separate sensor.) This system configuration can be easily extended to three dimensions.
即ち、移動ロボットを中心の位置A
(x 、y 、z )、半径r1の球、移動障害
物を中心の位1ffB (x2 、 y2 、 z2
)、半径r2の球で近似し、
とおく。相対速度ベクトルと位置ベクl〜ルの内積P=
x(t) x’ (t) +V(t) V’ (t)+
z(t) z’ (t)
が負の場合にのみ衝突の可能性がある。その時、点Bが
移動ロボットからみた移動障害物の相対速度で移動した
場合の進路に当たる
直線: (x−x2)/x’ (t)
= (y−y2 )/y’(1)
= (z z2 ) / z’ (t)と点A(xl
、yl、zl)との距離りは・・・(3)
であるから、
D > r 1 + r 2ならば衝突しない、D≦r
1 + r 2ならば衝突する、と推定するものであ
り、第2図に示す通りである。That is, the position A (x, y, z) centered on the mobile robot, the sphere with radius r1, and the position 1ffB (x2, y2, z2) centered on the moving obstacle.
), approximated by a sphere with radius r2, and set as . Inner product of relative velocity vector and position vector P=
x(t) x' (t) +V(t) V' (t)+
Collisions are possible only if z(t) z' (t) is negative. At that time, the straight line corresponding to the course when point B moves at the relative speed of the moving obstacle as seen from the mobile robot: (x-x2)/x' (t) = (y-y2)/y'(1) = (z z2 ) / z' (t) and point A (xl
, yl, zl)...(3) Therefore, if D > r 1 + r 2, there is no collision, D≦r
1 + r 2, it is estimated that there will be a collision, as shown in FIG.
以上に説明した移動障害物を回避するための移動制御方
法を、実際に移動ロボットのコンピュータが実行するた
めの流れ図を移動障害物対処ナヴイゲーション(naV
iQatiOn)として、第6図(a)及び(b)に示
す。The flowchart for the mobile robot's computer to actually execute the movement control method for avoiding moving obstacles described above is shown in the Navigation for Moving Obstacles (naV).
iQatiOn) as shown in FIGS. 6(a) and (b).
移動ロボットの移動には、通常その予定された移動経路
に沿ってランドマーク(1and++ark)を設定し
、この移動経路をランドマークで区切られた幾つかの短
い区間に分割し、移動[1ボツトはこのランドマークを
各区間における目標、即ちサブコールとして移動する。To move a mobile robot, landmarks (1 and ++ ark) are usually set along the planned movement route, and this movement path is divided into several short sections separated by landmarks. This landmark is moved as a target in each section, that is, as a subcall.
従って第6図はサブコール間のナヴイゲーションとして
記されている。検出した移動障害物に対し、減速、停止
、増速のいずれでかで対処するが、これらのいずれでも
安全でない場合は、方向転換してサブゴールへの待避経
路を設計することになる。ここで「安全か」にYes、
Noの判断を与えるとぎ、第1図に示した本発明の判
別方法を用いる。リブゴールに達すればE x ITP
にゆぎ、予定に従って次のランドマークに目標を移す。Therefore, FIG. 6 is marked as navigation between subcalls. The detected moving obstacle is dealt with by slowing down, stopping, or speeding up, but if none of these is safe, the vehicle changes direction and designs an escape route to the subgoal. Yes to “Is it safe?” here.
When determining No, the determination method of the present invention shown in FIG. 1 is used. If you reach the rib goal, E x ITP
Then move your target to the next landmark according to your schedule.
回避不能な移動障害物である場合はE X ITIにゆ
き、別のランドマークにザブゴールを変更する、従って
サブゴールのシーケンスを大局的に再決定することにな
る。If it is an unavoidable moving obstacle, go to E
このような、第6図のナヴイゲーションを部分として含
む全体の流れ図を第7図に示す。FIG. 7 shows an overall flowchart including the navigation shown in FIG. 6 as a part.
(ハ)発明の効果
以上の説明から明らかな通り、この発明によれば、他の
移動体の移動に対応して速やかに実時間で自身の移動を
制御し得る移動体の移動制御方法を得ることができる。(C) Effects of the Invention As is clear from the above explanation, according to the present invention, a method for controlling the movement of a moving object that can quickly control its own movement in real time in response to the movement of other moving objects is obtained. be able to.
第1図はこの発明の移動体の移動制御方法の基本となる
移動障害物との衝突の可能性を判別する方法を2次元空
間の場合について示す流れ図、第2図はこの発明の移動
体の移動制御方法の基本となる移動障害物との衝突の可
能性を判別する方法を3次元空間の場合について示す流
れ図、第3図は移動ロボットが移動障害物を検出する仕
方を示す平面説明図、第4図は移動[1ボツトと移動障
害物を円で近似した平面説明図、第5図は移動ロボッ]
・から見た移動障害物の相対位置・相対速度と衝突の可
能性の関係を示す説明図、第6図(a)、(b)は移動
障害物対処ナヴイゲーションを示す流れ図、及び第7図
は第6図の移動障害物対処ナヴイゲーションを含む全体
のナヴイゲーションを示す流れ図である。
1・・・移動ロボット 2・・・ビーム 3・・・
移動障害物
第1図
第2図FIG. 1 is a flowchart showing a method for determining the possibility of collision with a moving obstacle, which is the basis of the method for controlling the movement of a moving body according to the present invention, in the case of a two-dimensional space. A flowchart showing a method for determining the possibility of collision with a moving obstacle, which is the basis of the movement control method, in the case of a three-dimensional space; FIG. 3 is a plan explanatory diagram showing how a mobile robot detects a moving obstacle; Figure 4 is a plan view of a moving robot and a circular approximation of a moving obstacle; Figure 5 is a moving robot]
・An explanatory diagram showing the relationship between the relative position/velocity of a moving obstacle and the possibility of collision as seen from ・ FIGS. This figure is a flowchart showing the entire navigation including the moving obstacle handling navigation shown in FIG. 1... Mobile robot 2... Beam 3...
Moving obstacles Figure 1 Figure 2
Claims (1)
法であって、前記移動体はその中心位置Aから等距離に
ある点からなる図形の形状を有するとみなしかつ前記移
動障害物はその中心位置Bから等距離にある点からなる
図形の形状を有するとみなしたときの点Aから見た点B
の相対位置と相対速度とを測定しかつ前記移動障害物の
半径r_2を推定し相対位置と相対速度の内積が負の場
合に、これらの測定値・推定値と前記移動体の半径r_
1とを用いて点Bが前記相対位置から前記相対速度で直
進した場合の進路に当る直線と点Aとの距離Dを計算し
、Dとr_1+r_2を比較し、Dがr_1+r_2よ
り小さいときにはDがr_1+r_2より大きくなるよ
うに前記移動体の速度を変化させるという操作を時々刻
々行うことを特徴とする移動制御方法A movement control method for a moving body to avoid collision with another moving obstacle, the moving body being considered to have a shape of a figure consisting of points equidistant from its center position A, and the moving obstacle being Point B seen from point A when it is considered to have the shape of a figure consisting of points equidistant from the center position B
and estimate the radius r_2 of the moving obstacle, and if the inner product of the relative position and relative speed is negative, then these measured values/estimated values and the radius r_2 of the moving object
1, calculate the distance D between point A and the straight line that corresponds to the course when point B moves straight from the relative position at the relative speed, compare D with r_1+r_2, and if D is smaller than r_1+r_2, D is smaller than r_1+r_2. A movement control method characterized by performing an operation of changing the speed of the moving body from time to time so that it becomes greater than r_1+r_2.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60170291A JPS6234784A (en) | 1985-08-01 | 1985-08-01 | Method of controlling movement of moving body |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60170291A JPS6234784A (en) | 1985-08-01 | 1985-08-01 | Method of controlling movement of moving body |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6234784A true JPS6234784A (en) | 1987-02-14 |
JPH0366117B2 JPH0366117B2 (en) | 1991-10-16 |
Family
ID=15902231
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP60170291A Granted JPS6234784A (en) | 1985-08-01 | 1985-08-01 | Method of controlling movement of moving body |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6234784A (en) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11194822A (en) * | 1998-01-05 | 1999-07-21 | Nissan Motor Co Ltd | Global map constructing method for mobile robot |
JP2007122304A (en) * | 2005-10-27 | 2007-05-17 | Hitachi Ltd | Mobile robot |
JP2007213367A (en) * | 2006-02-10 | 2007-08-23 | Matsushita Electric Ind Co Ltd | Tracking method for moving object |
JP2007316924A (en) * | 2006-05-25 | 2007-12-06 | Toyota Motor Corp | Autonomous moving device |
WO2008032673A1 (en) * | 2006-09-11 | 2008-03-20 | Hitachi, Ltd. | Moving device |
JP2008152714A (en) * | 2006-12-20 | 2008-07-03 | Honda Motor Co Ltd | Mobile apparatus, its control system, control program, and supervision system |
JP2008149436A (en) * | 2006-12-20 | 2008-07-03 | Honda Motor Co Ltd | Moving device, its control system, control program, and supervision system |
JP2008254134A (en) * | 2007-04-06 | 2008-10-23 | Honda Motor Co Ltd | Moving device, its control method and control program |
WO2009098927A1 (en) * | 2008-02-07 | 2009-08-13 | Toyota Jidosha Kabushiki Kaisha | Autonomous mobile body, and method and system for controlling the same |
JP2010061293A (en) * | 2008-09-02 | 2010-03-18 | Toyota Motor Corp | Route searching device, route searching method, and route searching program |
JP2012022467A (en) * | 2010-07-13 | 2012-02-02 | Murata Mach Ltd | Autonomous mobile body |
JP2016224603A (en) * | 2015-05-28 | 2016-12-28 | シャープ株式会社 | Autonomous travel apparatus |
JP2019150895A (en) * | 2018-02-28 | 2019-09-12 | 株式会社東芝 | Manipulator system, control device, control method and program |
-
1985
- 1985-08-01 JP JP60170291A patent/JPS6234784A/en active Granted
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11194822A (en) * | 1998-01-05 | 1999-07-21 | Nissan Motor Co Ltd | Global map constructing method for mobile robot |
JP2007122304A (en) * | 2005-10-27 | 2007-05-17 | Hitachi Ltd | Mobile robot |
US8036775B2 (en) | 2005-10-27 | 2011-10-11 | Hitachi, Ltd. | Obstacle avoidance system for a user guided mobile robot |
JP2007213367A (en) * | 2006-02-10 | 2007-08-23 | Matsushita Electric Ind Co Ltd | Tracking method for moving object |
JP4552869B2 (en) * | 2006-02-10 | 2010-09-29 | パナソニック株式会社 | Tracking method for moving objects |
JP2007316924A (en) * | 2006-05-25 | 2007-12-06 | Toyota Motor Corp | Autonomous moving device |
WO2008032673A1 (en) * | 2006-09-11 | 2008-03-20 | Hitachi, Ltd. | Moving device |
JP2008065755A (en) * | 2006-09-11 | 2008-03-21 | Hitachi Ltd | Mobile device |
US7571026B2 (en) | 2006-12-20 | 2009-08-04 | Honda Motor Co., Ltd. | Mobile apparatus, and control method thereof, control program and supervisory system therefor |
US7529622B2 (en) | 2006-12-20 | 2009-05-05 | Honda Motor Co., Ltd. | Mobile apparatus, and control method thereof, control program and supervisory system therefor |
JP2008149436A (en) * | 2006-12-20 | 2008-07-03 | Honda Motor Co Ltd | Moving device, its control system, control program, and supervision system |
JP2008152714A (en) * | 2006-12-20 | 2008-07-03 | Honda Motor Co Ltd | Mobile apparatus, its control system, control program, and supervision system |
JP2008254134A (en) * | 2007-04-06 | 2008-10-23 | Honda Motor Co Ltd | Moving device, its control method and control program |
WO2009098927A1 (en) * | 2008-02-07 | 2009-08-13 | Toyota Jidosha Kabushiki Kaisha | Autonomous mobile body, and method and system for controlling the same |
US9182762B2 (en) | 2008-02-07 | 2015-11-10 | Toyota Jidosha Kabushiki Kaisha | Autonomous moving body, its control method, and control system |
JP2010061293A (en) * | 2008-09-02 | 2010-03-18 | Toyota Motor Corp | Route searching device, route searching method, and route searching program |
JP2012022467A (en) * | 2010-07-13 | 2012-02-02 | Murata Mach Ltd | Autonomous mobile body |
US9020682B2 (en) | 2010-07-13 | 2015-04-28 | Murata Machinery, Ltd. | Autonomous mobile body |
JP2016224603A (en) * | 2015-05-28 | 2016-12-28 | シャープ株式会社 | Autonomous travel apparatus |
JP2019150895A (en) * | 2018-02-28 | 2019-09-12 | 株式会社東芝 | Manipulator system, control device, control method and program |
Also Published As
Publication number | Publication date |
---|---|
JPH0366117B2 (en) | 1991-10-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP3865121B2 (en) | Vehicle obstacle detection device | |
JP5112666B2 (en) | Mobile device | |
JP4699426B2 (en) | Obstacle avoidance method and obstacle avoidance moving device | |
JP2761454B2 (en) | How to guide autonomous mobile machines | |
US9145286B2 (en) | Method for operating an autonomous industrial truck | |
US8793069B2 (en) | Object recognition system for autonomous mobile body | |
JPS6234784A (en) | Method of controlling movement of moving body | |
JP2008195293A (en) | Collision-predicting device | |
JP5553220B2 (en) | Moving body | |
JPWO2019069626A1 (en) | Mobile vehicle | |
JP5476887B2 (en) | Group traveling control device and group traveling control method | |
JP2017036945A (en) | Moving body and obstacle detection method of the same | |
KR100544445B1 (en) | A Method of Static and Moving Obstacles Detection and Avoidance using Optical Flow for Moving Mobile Robots | |
JPH04358209A (en) | Obstacle avoiding device | |
US6658365B2 (en) | Collision avoidance system, position detector, collision avoidance method, position detecting method and program for realizing the same | |
KR20180076450A (en) | Apparatus and method for preventing collision of robot | |
JP6594565B1 (en) | In-vehicle device, information processing method, and information processing program | |
WO2023127096A1 (en) | Simulation system, simulation method, and simulation program | |
JP7060231B2 (en) | Mobile control device | |
JP7476495B2 (en) | Collision avoidance device, collision avoidance method, and collision avoidance program for autonomous vehicle | |
JP6795730B2 (en) | Mobile management system, mobile, travel management device and computer program | |
JP6687313B1 (en) | Transport system | |
US20230174054A1 (en) | Object recognition device, path planning device, parking support device, object recognition system, path planning system and parking support system | |
JP2023545783A (en) | Method and control device for calculating collision-related time variables for automobiles | |
JP7018303B2 (en) | Mobile |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
EXPY | Cancellation because of completion of term |