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WO2023037539A1 - Système de commande, dispositif de traitement d'informations, procédé de commande et procédé de production de valeur de commande - Google Patents

Système de commande, dispositif de traitement d'informations, procédé de commande et procédé de production de valeur de commande Download PDF

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Publication number
WO2023037539A1
WO2023037539A1 PCT/JP2021/033502 JP2021033502W WO2023037539A1 WO 2023037539 A1 WO2023037539 A1 WO 2023037539A1 JP 2021033502 W JP2021033502 W JP 2021033502W WO 2023037539 A1 WO2023037539 A1 WO 2023037539A1
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WIPO (PCT)
Prior art keywords
moving body
angular velocity
moving
correction amount
information processing
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PCT/JP2021/033502
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English (en)
Japanese (ja)
Inventor
真也 安田
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日本電気株式会社
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Application filed by 日本電気株式会社 filed Critical 日本電気株式会社
Priority to PCT/JP2021/033502 priority Critical patent/WO2023037539A1/fr
Priority to JP2023546707A priority patent/JPWO2023037539A1/ja
Publication of WO2023037539A1 publication Critical patent/WO2023037539A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present disclosure relates to a control system, an information processing device, a control method, and a control value generation method.
  • Patent Document 1 describes a method for calculating a route for an autonomous mobile robot to move to a destination, and calculating an avoidance route for avoiding obstacles when obstacles are present. Also, the autonomous mobile robot performs a simulation of moving along each of the plurality of route candidates, and calculates, for example, the speed history, acceleration history, etc., when moving along each route candidate. The autonomous mobile robot selects a movement route based on the calculated speed history and the like.
  • Patent Document 1 it is necessary for the autonomous mobile robot to determine a plurality of route candidates, then calculate the speed, acceleration, etc. for moving each route candidate, and evaluate each route candidate. .
  • the autonomous mobile robot starts to move, there is a problem that the calculation processing for calculating the appropriate speed, acceleration, etc. for moving each route candidate is burdened.
  • One of the purposes of the present disclosure is to provide a control system, an information processing device, a control method, and a control value generation method that can suppress an increase in computational load for controlling movement of a mobile object.
  • a control system includes route correction means for specifying a correction amount in a direction away from the travel route of the mobile object in response to detection of an obstacle positioned on the travel route of the mobile object. , angular velocity specifying means for specifying the angular velocity of the moving body based on the correction amount and the position of the moving body; and according to the specified angular velocity of the moving body and the moving speed of the moving body, and control means for controlling the operation of the moving body.
  • An information processing apparatus includes route correction means for specifying a correction amount in a direction away from a travel route of the mobile object in response to detection of an obstacle positioned on the travel route of the mobile object. and angular velocity specifying means for specifying the angular velocity of the moving body based on the correction amount and the position of the moving body; and a communication means for transmitting to the body.
  • a control method specifies a correction amount in a direction away from the traveling route of the moving body in response to detection of an obstacle positioned on the traveling route of the moving body, and determines the correction amount. and the position of the moving body, and controlling the operation of the moving body according to the identified angular velocity of the moving body and the moving speed of the moving body. .
  • a control value generation method specifies a correction amount in a direction in which the moving object moves away from the traveling route in response to detection of an obstacle positioned on the traveling route of the moving object, and The angular velocity of the moving body is specified based on the correction amount and the position of the moving body, and the specified angular velocity of the moving body and the moving speed of the moving body are transmitted to the moving body.
  • control system an information processing device, a control method, and a control value generation method that can suppress an increase in computational load for controlling movement of a mobile body.
  • FIG. 1 is a configuration diagram of a control system according to Embodiment 1;
  • FIG. 4 is a diagram showing the flow of control processing executed in the control system according to the first embodiment;
  • FIG. 1 is a configuration diagram of an information processing apparatus according to a second embodiment;
  • FIG. 10 is a diagram for explaining speed time series according to the second embodiment;
  • FIG. FIG. 11 is a diagram for explaining target points according to the second embodiment;
  • FIG. FIG. 10 is a diagram showing data stored in a target value storage unit according to the second embodiment;
  • FIG. FIG. 10 is a diagram for explaining speed time series according to the second embodiment;
  • FIG. FIG. 10 is a configuration diagram of a moving object according to a second embodiment;
  • the control system 10 of FIG. 1 has a path corrector 11 , an angular velocity specifier 12 and a controller 13 .
  • the path correction unit 11, the angular velocity identification unit 12, and the control unit 13 may be arranged in the same device, or may be arranged in different devices.
  • two of the path correction unit 11, the angular velocity identification unit 12, and the control unit 13 may be arranged in the same device, and the remaining one may be arranged in another device.
  • the path correction unit 11, the angular velocity identification unit 12, and the control unit 13 may be software or modules whose processing is executed by a processor executing a program stored in memory.
  • the path correction unit 11, the angular velocity identification unit 12, and the control unit 13 may be hardware such as circuits or chips.
  • the route correction unit 11 specifies a correction amount in a direction away from the travel route of the mobile object in response to detection of an obstacle located on the travel route of the mobile object.
  • the moving body may be a robot that moves autonomously, for example, a transport robot (AGV (Automated Guided Vehicle)) that transports objects.
  • AGV Automated Guided Vehicle
  • the mobile body may have four wheels, such as a car, and may move by a steering system, or may move by using two differential wheels. By independently controlling the speeds of the left and right wheels, the differential two-wheel vehicle can travel around curves due to the speed difference between the respective wheels.
  • the travel route may be, for example, a route connecting the current position of the mobile object and the destination point to which the mobile object should reach at the shortest distance. It may be a route calculated as a route that is
  • Obstacles can be stationary objects such as pillars, walls, and shelves, or moving objects such as humans and other robots.
  • the correction amount may be the difference in the distance between the position where the moving body moving at a predetermined moving speed exists after a predetermined period of time and the travel route when there is no obstacle.
  • the angular velocity identifying unit 12 identifies the angular velocity of the moving object based on the correction amount identified by the path correcting unit 11 and the position of the moving object.
  • the position of the mobile object may be specified using a positioning system such as GPS (Global Positioning System), or notified from a monitoring system that monitors the mobile object via a network or the like.
  • GPS Global Positioning System
  • the angular velocity specifying unit 12 may increase the angular velocity as the amount of correction from the current position increases, and may decrease the angular velocity as the amount of correction from the current position decreases.
  • the control unit 13 controls the movement of the moving object according to the angular velocity specified by the angular velocity specifying unit 12 and the moving speed of the moving object.
  • the control unit 13 controls the driving unit of the moving object such that the moving object moves according to the angular velocity specified by the angular velocity specifying unit 12 and the predetermined moving speed.
  • the drive may include, for example, tires, wheels, and the like.
  • the control unit 13 may use information about the attitude of the moving body to control the moving body so that it does not tilt.
  • the control unit 13 may control the moving body using information about the angle at which the moving body pushes the transported object so that the moving object does not release or drop the transported object.
  • the control unit 13 may control the moving body using information about the distance between the moving body and the other moving body. good.
  • the route correction unit 11 specifies a correction amount in a direction away from the travel route of the mobile object in response to detection of an obstacle positioned on the travel route of the mobile object (S11).
  • the angular velocity identifying unit 12 identifies the angular velocity of the moving object based on the correction amount identified by the path correcting unit 11 and the position of the moving object (S12).
  • the control unit 13 controls the movement of the moving object according to the angular velocity specified by the angular velocity specifying unit 12 and the moving speed (S13).
  • the path correction unit 11 and the angular velocity identification unit 12 are arranged in the same device, and the control unit 13 is arranged in the moving object.
  • the control unit or the like of the device in which the path correction unit 11 and the angular velocity specifying unit 12 are arranged may transmit information about the specified angular velocity and the moving speed to the moving body in which the control unit 13 is arranged.
  • the moving body may use the received angular velocity and moving speed to control the movement of the moving body.
  • the control system 10 calculates the angular velocity by specifying the angular velocity of the moving body based on the correction amount of the moving body and the position of the moving body. That is, the control system 10 calculates the angular velocity to be set at present. As a result, the control system 10 can reduce the calculation load related to the calculation of angular velocities compared to the case of calculating all the ever-changing angular velocities in order to move the moving body from the current position to the position determined according to the correction amount. can be suppressed. In addition, the control system 10 calculates the angular velocity using the correction amount in the direction away from the travel route, thereby reducing the calculation load compared to the case of calculating the angular velocity using the detailed position of the moving object. can be done.
  • the information processing device 20 may be a computer device operated by a processor executing a program stored in a memory.
  • the information processing device 20 generates a control value necessary for the moving body 30 described later to run autonomously.
  • the information processing device 20 includes an evaluation unit 21, an angular velocity identification unit 22, a simulation execution unit 23, a communication unit 24, a speed candidate storage unit 25, a target value candidate storage unit 26, a cost value storage unit 27, and an obstacle determination unit 28. have.
  • Each component of the information processing device 20 may be software or a module whose processing is executed by a processor executing a program stored in memory. Alternatively, each component of the information processing device 20 may be hardware such as a circuit or chip.
  • the speed candidate storage unit 25, the target value candidate storage unit 26, and the cost value storage unit 27 may be, for example, memories for storing data, and may each have different memory areas.
  • the evaluation unit 21 corresponds to the route correction unit 11 in FIG.
  • the angular velocity identification unit 22 corresponds to the angular velocity identification unit 12 in FIG.
  • the speed candidate storage unit 25 stores information on speed candidates applied to the moving object 30 .
  • a speed candidate may be, for example, a speed time series that indicates changes in speed within a predetermined period.
  • the speed candidates stored in the speed candidate storage unit 25 will be described with reference to FIG.
  • the vertical axis indicates velocity v and the horizontal axis indicates time t.
  • FIG. 4 shows the change in velocity during the period from time t 0 to t h .
  • FIG. 4 shows the velocity time series from time t 0 to h steps ahead.
  • t 1 to t h ⁇ 1 in FIG. 4 indicate times obtained by equally dividing the time from time t 0 to time t h .
  • FIG. 4 shows three speed time series as speed candidates
  • the speed candidate storage unit 25 may store n (n is an integer equal to or greater than 1) types or n patterns of speed time series. good.
  • the target value candidate storage unit 26 stores information indicating the target position where the moving body 30 will be after a predetermined period of time has elapsed.
  • the target position where the moving body 30 exists will be described with reference to FIG.
  • FIG. 5 shows a view of the travel area of the moving body 30 viewed from above.
  • R1 indicates the traveling route of the moving body 30.
  • FIG. Also, the arrival point of the moving body 30 exists on the travel route R1.
  • an obstacle 40 exists on the travel route. In other words, the moving object 30 collides with the obstacle 40 when it continues to move on the travel route.
  • a_1 to a_6 indicate distances from the travel route R1.
  • a_1 to a_6 indicate distances in the Y-axis direction when the traveling route R1 is the X-axis and the axis perpendicular to the X-axis is the Y-axis. a_1 to a_6 correspond to correction amounts.
  • a solid-line mobile object 30 indicates the current mobile object 30, and a dotted-line mobile object 30 indicates the estimated position of the mobile object 30 after a predetermined period of time.
  • the predetermined period may be, for example, a period from t0 to th .
  • FIG. 5 shows candidates for positions where the mobile object 30 will be present after a predetermined period of time. Specifically, positions a_1 to a_6 away from the travel route R1 and positions on the travel route R1 are shown as candidates for the position where the moving object 30 exists.
  • the moving body 30 and the obstacle 40 overlap each other, and the moving body 30 and the obstacle 40 overlap. shown to collide.
  • the target value candidate storage unit 26 stores a_1 to a_m, including a_1 to a_6, as shown in FIG. offset_1 to offset_m in FIG. 6 are information for identifying the distances a_1 to a_6. For example, if offset_1 is specified, the value of a_1 is extracted. That is, a_1 to a_6 indicate values that are candidates for the target point in the y-axis direction of the moving body 30 after a predetermined period of time.
  • the obstacle determination unit 28 determines whether or not there is an obstacle around the moving object 30 .
  • the obstacle determination unit 28 may receive detection information of obstacles around the moving body 30 from a sensor mounted on the moving body 30, for example. Alternatively, the sensors may be installed on walls, ceilings, etc. so as to monitor the travel area of the moving body 30 .
  • the sensors detect objects or people that are considered obstacles in a given space.
  • the detection information may include information regarding the location of the obstacle.
  • the obstacle determination unit 28 determines that an obstacle exists around the moving body 30 when the obstacle detection information is received from the sensor mounted on the moving body 30 . Further, the obstacle determination unit 28 identifies the position where the obstacle exists using the obstacle detection information.
  • the obstacle determination unit 28 may receive detection information from sensors via a wireless communication line or a wired communication line.
  • the obstacle determination unit 28 may receive detection information via, for example, a wireless LAN (Local Area Network).
  • Obstacles may be, for example, devices, facilities, shelves, pillars, etc. placed within a predetermined space. Also, the obstacle may be a moving object or a non-moving object.
  • the sensor may be, for example, a camera or an infrared sensor.
  • the camera may be a 2D camera or a 3D camera.
  • the sensor may be a 2DLidar or a 3DLidar. Cameras or sensors may be mounted at multiple locations to observe within a given space.
  • the obstacle determination unit 28 may detect obstacles by, for example, performing machine learning using images received from sensors. For example, when a learning model is generated by learning images related to obstacles in advance, the obstacle determination unit 28 applies the received images to the learning model to determine whether an obstacle exists around the moving body 30. You may decide whether to
  • the simulation execution unit 23 applies speed time series of N patterns (N is an integer of 1 or more) and M target values (M is an integer of 1 or more) to the following equation (1).
  • the cost S is a value that indicates the adequacy of the simulation result.
  • the simulation execution unit 23 calculates the cost S for each pair using the speed time series of the N ⁇ M pattern and the target value pair. It is assumed that the smaller the value of the cost S, the more suitable the velocity time series and target value pair is used.
  • the r in the cost Sr in Equation (1) indicates a value that identifies the pair of the speed time series and the target value. For example, r may be 1 or more and N ⁇ M or less.
  • v i k indicates the speed at the time t i of the speed time series identified by the identification information k (k is an integer from 1 to N ) in the speed time series of N patterns.
  • v max indicates the maximum velocity of the mobile object 30 .
  • x i and y i indicate the position of the moving object 30 at time t i .
  • the position of the moving object 30 along the travel route R1 is the x-coordinate, and the y-coordinate value is indicated using the distance from the travel route R1.
  • y- target is the y-coordinate of the travel route R1 of the moving object 30; For example, if the travel route R1 is the x-axis, the y- target will be zero.
  • the first term of equation (1) becomes a smaller value as the speed at time t i increases.
  • the second term of equation (1) becomes a smaller value as the position of the y-coordinate at time t i is closer to the travel route R1.
  • obst(x i , y i ) in the third term of equation (1) has a value of 1 when (x i , y i ) is the position at which it collides with the obstacle 40, and , indicates a function whose value is 0.
  • the simulation execution unit 23 sets the value of obst(x i , y i ) to 1 as a collision when (x i , y i ) overlaps with the position of the obstacle identified by the obstacle determination unit 28 . You may
  • A is the coefficient of the first term
  • B is the coefficient of the second term
  • C is the coefficient of the third term, each of which may be referred to as a weighting coefficient.
  • C may be set to a larger value than A and B if the effect of the third term needs to be enhanced.
  • C can be a large value compared to A and B to give a high cost value for pairs of velocity time series and targets that are likely to hit an obstacle after a given period of time. can.
  • a moving object 30 moves in a two-dimensional plane, and its motion is described using a velocity v and an angular velocity w.
  • the differential equation (2) can be used to calculate the next time t It is possible to calculate or estimate the position (x 1 , y 1 ) and the orientation ⁇ 1 of the moving object 30 of 1 .
  • the position (x 0 , y 0 ) and orientation ⁇ 0 of the mobile object 30 at the current time t 0 may be received from the mobile object 30 by, for example, the simulation execution unit 23 .
  • the moving object 30 may specify the angle ⁇ 0 indicating the current orientation with respect to the travel route based on the rotation information of the steering wheel, the rotation information of the left and right wheels, and the like.
  • the moving body 30 may generate position information using a sensor such as a GPS (Global Positioning System). You may
  • the position (x 2 , y 2 ) and orientation ⁇ 2 of the moving body 30 at the next time t 2 can be calculated or estimated.
  • the position (x i , y i ) and orientation ⁇ i of the mobile object 30 at time t i can be calculated or estimated.
  • the y-coordinate at time t i-1 is y i-1
  • the target value is offset_a
  • the angle at time t i-1 is ⁇ i-1 .
  • offset_a is one of offset_1 to n stored in the target value candidate storage unit 26 .
  • the angle ⁇ i ⁇ 1 is the angle at which the front direction of the moving body 30 is directed with respect to the traveling route. For example, in FIG.
  • the direction of the travel route R1 may be 0 degrees
  • the direction of the target values a_1 to a_3 may be a positive angle
  • the direction of the target values a_4 to a_6 may be a negative angle.
  • time t 0 is the current time
  • the angle ⁇ 0 at time t 0 indicates the current angle at which the moving object 30 is facing.
  • the y-coordinate in FIG. 5 may have a positive value in the direction of the target values a_1 to a_3 and a negative value in the direction of the target values a_4 to a_6 with the travel route R1 as a reference.
  • the angle ⁇ or orientation may also be referred to as the attitude of the moving body 30 .
  • the posture of the moving object may be the direction in which the front part of the moving object is facing with respect to the reference direction.
  • the reference direction may be, for example, the traveling direction of the travel route.
  • the front portion of the moving body may be, for example, the traveling direction of the moving body.
  • the attitude of the moving body may be indicated using directions such as north, south, east and west with the current position as a reference.
  • the angular velocity w i-1 is calculated by applying the y-coordinate y i-1 at time t i-1 , the target value offset_a, and the angle ⁇ i-1 at time t i-1 to the following equation (3).
  • Equation (3) is a proportional control in which the angular velocity w increases as the current y-coordinate of the moving body 30 moves away from the target value and further as the direction of the robot moves away from the direction of the target value. is shown.
  • Equation (1) y i to be applied to equation (1) is calculated, and the cost S is calculated using equation (1).
  • the cost S using equation (1) is calculated for all pairs of velocity time series and target value. That is, since there are N speed time series patterns and M target values, N ⁇ M costs S are calculated.
  • the N ⁇ M costs S may be denoted as S 1 , S 2 , . . . S N ⁇ M , for example.
  • the simulation execution unit 23 stores the calculated cost S in the cost value storage unit 27.
  • the evaluation unit 21 adopts the cost S pair that is the minimum value. That is, the evaluation unit 21 adopts the velocity time series and the target value applied to calculate the cost S, which is the minimum value.
  • the angular velocity specifying unit 22 calculates the angular velocity w by applying the target value adopted by the evaluating unit 21 to Equation (3).
  • the angular velocity specifying unit 22 uses the adopted target value as offset_a, and calculates the angular velocity w using the y-coordinate y 0 and the angle ⁇ 0 at the current time t 0 .
  • the calculated angular velocity is used as the angular velocity of the moving body 30 at the next timing or time.
  • the communication unit 24 transmits to the moving object 30 information about the velocity time series adopted by the evaluation unit 21 and the angular velocity w calculated by the angular velocity identification unit 22 .
  • Information about the velocity time series adopted by the evaluation unit 21 and the angular velocity w calculated by the angular velocity identification unit 22 may be referred to as a control input value used in the moving object 30 .
  • the next time at which the control input value is used in the moving object 30 may be time t1 , where t0 is the current time. That is, the information processing device 20 calculates the control input value of the moving object 30 at time t1 between the current time t0 and time t1 .
  • the velocity time series and angular velocity w at next time t2 are specified in the same manner as the procedure for specifying the velocity time series and angular velocity w at time t1 .
  • the speed time series at time t1 is specified, the speed time series stored in the speed candidate storage unit 25 is updated. Specifically, as shown in FIG. 7, a plurality of speed time series are set, starting from the speed at time t1 in the identified speed time series. Also, since the time t1 is the starting point, a velocity time series is set from time t1 to time t h+1 after h steps.
  • the mobile unit 30 has a communication unit 31 and a mobile unit control unit 32 .
  • the communication unit 31 and the mobile unit control unit 32 may be software or modules whose processing is executed by a processor executing a program stored in memory.
  • the communication unit 31 and the mobile body control unit 32 may be hardware such as circuits or chips.
  • the communication section 31 communicates with the communication section 24 of the information processing device 20 .
  • the communication section 31 may communicate with the communication section 24 via a wireless communication line or a wired communication line.
  • the communication unit 31 may perform short-range wireless communication with the communication unit 24, such as wireless LAN (Local Area Network), infrared communication, or Bluetooth (registered trademark).
  • the communication unit 31 receives, from the information processing device 20, information about the velocity time series and the angular velocity for operating the moving body 30.
  • the moving body control section 32 controls the driving section of the moving body 30 according to the velocity time series and the angular velocity received by the communication section 31 .
  • the mobile body control unit 32 may control the rotation of the wheels so that the mobile body moves at a specified speed time series and angular velocity.
  • the moving body control unit 32 may control the attitude of the moving body 30, for example, so that the body of the moving body 30 does not tilt.
  • the moving body control unit 32 may control the angle at which the moving body 30 pushes the conveyed object so that the moving body 30 does not release or drop the conveyed object.
  • the moving body control unit 32 may control the distance between the moving body 30 and the other moving body when the moving body 30 cooperates with another moving body to transport the article.
  • the information necessary for the mobile body control unit 32 to perform each control may be received from the information processing device 20, may be received from a device different from the information processing device 20, or may be received within the mobile body 30. may be generated by a controller or the like.
  • the information processing device 20 acquires current movement information regarding the mobile object 30 (S21).
  • the current movement information may be information including, for example, the velocity, angular velocity, orientation, and current position of the mobile object 30 .
  • the simulation execution unit 23 selects one speed time series from among the N patterns of speed time series stored in the speed candidate storage unit 25 and the M target values stored in the target value candidate storage unit 26. A series and one target value pair are selected (S22).
  • the simulation execution unit 23 calculates the cost S for the selected pair using equation (1), differential equation (2), and equation (3) (S23). Next, the simulation execution unit 23 determines whether or not the costs S for all pairs of speed time series and target values stored in the speed candidate storage unit 25 and the target value candidate storage unit 26 have been calculated (S24 ).
  • the simulation execution unit 23 repeats the processing from step S22 onwards.
  • the evaluation unit 21 selects the pair used to calculate the lowest cost S (S25).
  • the angular velocity specifying unit 22 calculates the angular velocity w by applying the target values included in the pair selected in step S25 to Equation (3) (S26).
  • the communication unit 24 transmits the velocity time series and the angular velocity w to the moving object 30 as control input values (S27).
  • the information processing apparatus 20 specifies the velocity of the moving body 30 at the next time t1 at the current time t0 , and further calculates the angular velocity.
  • the process of specifying the velocity of the moving body 30 at the next time and calculating the angular velocity calculates all the velocities and angular velocities at a plurality of timings in order to realize the specified route. Processing load is reduced compared to processing.
  • the value of cost S decreases as the speed increases.
  • the information processing device 20 can select the speed time series so as to increase the moving speed of the moving object 30 .
  • the closer to the travel route R1 the smaller the value of the cost S.
  • the information processing device 50 has a configuration in which a random number generation unit 51 is added to the information processing device 20 in FIG. Random number generation unit 51 generates an arbitrary random number and outputs the generated random number to simulation execution unit 23 . The random number generated by the random number generation unit 51 is used to change the position of the moving object 30 .
  • the moving body 30 when the simulation execution unit 23 executes a simulation using pairs of the velocity time series of the N ⁇ M pattern and the target value, the moving body 30 performs the selected velocity time series and the calculated It is assumed to move according to angular velocity.
  • the moving body 30 may meander without moving normally according to the speed time series and the angular velocity.
  • the mobile body 30 may meander due to external environmental conditions such as conditions of the ground on which the mobile body 30 is in contact, weather conditions, etc., or internal environmental conditions such as aged deterioration of the mobile body 30 .
  • the random number generation unit 51 generates random numbers for executing a simulation that takes into account external environmental conditions or internal environmental conditions.
  • FIG. 11 shows the travel area of the moving body 30.
  • FIG. 11 shows an area in which the travel area of the mobile object 30 is viewed from above in a direction perpendicular to the two-dimensional area, which is the travel area of the mobile object 30 .
  • FIG. 11 shows that the moving body 30 moves linearly in the X direction.
  • FIG. 12 shows that the moving body 40 is meandering.
  • FIG. 12 shows a plurality of meandering paths of the moving body 40, that is, the variation patterns of the paths.
  • a probability model indicating that the moving body 30 does not necessarily move along the set route is expressed by the following Equation 4.
  • Equation (4) indicates the variation of the position of the grid on which the moving object 30 exists at a certain point in time.
  • Equation (4) represents the path variation pattern shown in FIG.
  • the random number generation unit 51 generates a random number used as SdB t indicating the stochastic effect of meandering of the moving body 30 .
  • the simulation execution unit 23 selects one pair and calculates the cost S by performing a simulation.
  • D simulations are performed for one pair using different random numbers in order to examine the probabilistic effects of meandering of the moving body 30 . That is, the simulation execution unit 23 calculates D costs S (S 1 to S D ) for one pair.
  • the simulation execution unit 23 calculates the evaluation value J by applying the D costs S to the following evaluation formula (5).
  • the simulation execution unit 23 calculates the evaluation value J for all pairs, and the evaluation unit 21 adopts the pair with the lowest evaluation value J. That is, the evaluation unit 21 adopts the velocity time series and target value applied to calculate J, which is the minimum evaluation value.
  • the information processing apparatus 50 can execute a simulation that takes into account the external environment or internal environment of the mobile body 30. Accordingly, the information processing device 50 can determine a control input value that further reduces the possibility of collision, taking into consideration that the moving body 30 meanders.
  • the information processing device 60 has a configuration in which a smoothing parameter generation unit 61 is added to the information processing device 20 in FIG.
  • the smooth parameter generation unit 61 is used to suppress fluctuations in the moving route of the moving object 30 .
  • FIG. 14 shows that there are a_1 and a_2 directions and a_5 and a_6 directions for the moving object 30 to avoid the obstacle 40 .
  • the moving body 30 has a route to avoid the obstacle 40 in the left direction or the right direction with respect to the travel route.
  • the evaluation unit 21 selects a pair including a_1 or a_2 as the target position at time t i , and selects a pair including a_5 or a_6 as the target position at time t i+1. may choose.
  • the evaluation unit 21 alternately selects a pair including the target position in the left direction of the obstacle 40 and a pair including the target position in the right direction as the control input value for avoiding the obstacle 40.
  • the moving body 30 may not be able to avoid the obstacle 40 and may collide with the obstacle 40 .
  • the evaluation unit 21 calculates the cost S in consideration of exponential smoothing in order to suppress the variation in the direction of the selected target position. Specifically, the following equation (6) is used to calculate the cost S.
  • Equation (6) has a fourth term added to Equation (1).
  • y offset q in the fourth term of equation (6) indicates the target position included in the selected pair.
  • the y offset EMA shows the exponential smoothing of target positions employed so far.
  • the y offset EMA shows the exponential smoothing of target positions taken prior to the target position selected in y offset q .
  • the y offset EMA is updated as follows.
  • the correction amount of the pair at the second time is adjusted based on the correction amount of the pair selected at the first time. For example, by decreasing the value of p, the effect of the previously employed target position y offset EMA can be increased.
  • the value of the fourth term in Equation (6) becomes large, and the value of the cost S becomes large. Therefore, if the difference between the target positions included in the pair and the target positions adopted so far is large, the possibility that the pair will be adopted decreases, and the difference from the target positions adopted so far is It is more likely that the pair that includes the target position for which is smaller will be adopted.
  • the information processing apparatus 60 of Embodiment 4 can suppress fluctuations in the selected target position, and therefore can determine a control input value that further reduces the possibility of collision.
  • FIG. 15 is a block diagram showing a configuration example of information processing apparatuses 20, 50, and 60 (hereinafter referred to as information processing apparatuses 20, etc.).
  • the information processing apparatus 20 and the like include a network interface 1201, a processor 1202, and a memory 1203.
  • FIG. Network interface 1201 may be used to communicate with network nodes (e.g., eNB, MME, P-GW).
  • Network interface 1201 may include, for example, an IEEE 802.3 series compliant network interface card (NIC).
  • eNB stands for evolved Node B
  • MME Mobility Management Entity
  • P-GW Packet Data Network Gateway.
  • IEEE stands for Institute of Electrical and Electronics Engineers.
  • the processor 1202 reads and executes software (computer program) from the memory 1203 to perform the processing of the information processing apparatus 20 and the like described using the flowcharts in the above embodiments.
  • Processor 1202 may be, for example, a microprocessor, MPU, or CPU.
  • Processor 1202 may include multiple processors.
  • the memory 1203 is composed of a combination of volatile memory and non-volatile memory.
  • Memory 1203 may include storage remotely located from processor 1202 .
  • the processor 1202 may access the memory 1203 via an I/O (Input/Output) interface (not shown).
  • I/O Input/Output
  • memory 1203 is used to store software modules.
  • the processor 1202 reads and executes these software modules from the memory 1203, thereby performing the processing of the information processing apparatus 20 and the like described in the above embodiments.
  • each of the processors included in the information processing apparatus 20 and the like in the above-described embodiments includes one or more instructions containing a group of instructions for causing a computer to execute the algorithm described with reference to the drawings. Run the program.
  • the program includes instructions (or software code) that, when read into a computer, cause the computer to perform one or more of the functions described in the embodiments.
  • the program may be stored in a non-transitory computer-readable medium or tangible storage medium.
  • computer readable media or tangible storage media may include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drives (SSD) or other memory technology, CDs - ROM, digital versatile disc (DVD), Blu-ray disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disc storage or other magnetic storage device.
  • the program may be transmitted on a transitory computer-readable medium or communication medium.
  • transitory computer readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.
  • route correction means for specifying a correction amount in a direction away from the travel route of the mobile object in response to detection of an obstacle positioned on the travel route of the mobile object; angular velocity identifying means for identifying the angular velocity of the moving body based on the correction amount and the position of the moving body;
  • a control system comprising control means for controlling the operation of the moving body in accordance with the identified angular velocity of the moving body and the moving speed of the moving body.
  • the moving speed is 2. The control system of Claim 1, wherein the velocity time series is indicative of changes in movement velocity.
  • the path correction means is Supplementary Note 1 or 2, wherein one pair is selected from a plurality of pairs in which one of the plurality of candidates for the moving speed and one of the plurality of candidates for the correction amount are combined.
  • the control system described in . (Appendix 4)
  • the path correction means is The control system according to appendix 3, wherein the one pair is selected according to the motion of the moving body calculated based on each of the plurality of pairs.
  • the angular velocity specifying means is 5. The control system according to any one of Appendices 1 to 4, wherein the angular velocity of the moving body is specified based on the correction amount and the position and orientation of the moving body.
  • the path correction means is The control system according to appendix 3, wherein the motion of the moving object is calculated based on each of the plurality of pairs and a random number.
  • the path correction means is 7. The control system according to any one of appendices 3, 4, and 6, wherein the correction amount of the pair at a second time is adjusted based on the correction amount of the pair selected at a first time.
  • the moving speed is The information processing device according to appendix 8, which is a speed time series showing changes in moving speed.
  • the path correction means is Supplementary note 8 or 9, wherein one pair is selected from a plurality of pairs in which one of the plurality of candidates for the moving speed and one of the plurality of candidates for the correction amount are combined.
  • the information processing device according to .
  • the path correction means is 11.
  • the information processing apparatus according to appendix 10, wherein the one pair is selected according to the motion of the moving object calculated based on each of the plurality of pairs.
  • the angular velocity specifying means is 12.
  • the path correction means is 12.
  • the information processing apparatus according to appendix 11, wherein the motion of the moving body is calculated based on each of the plurality of pairs and a random number.
  • the path correction means is 14.
  • the information processing apparatus according to any one of appendices 10, 11, and 13, wherein the correction amount of the pair at a second time is adjusted based on the correction amount of the pair selected at a first time.
  • Appendix 15 specifying a correction amount in a direction away from the travel route of the mobile object in response to detection of an obstacle positioned on the travel route of the mobile object; identifying the angular velocity of the moving body based on the correction amount and the position of the moving body; A control method for controlling the operation of the moving body according to the identified angular velocity of the moving body and the moving speed of the moving body.
  • Appendix 16 specifying a correction amount in a direction away from the travel route of the mobile object in response to detection of an obstacle positioned on the travel route of the mobile object; identifying the angular velocity of the moving body based on the correction amount and the position of the moving body; A method of generating a control value, which transmits the identified angular velocity of the moving body and the moving speed of the moving body to the moving body.
  • Appendix 17 specifying a correction amount in a direction away from the travel route of the mobile object in response to detection of an obstacle positioned on the travel route of the mobile object; identifying the angular velocity of the moving body based on the correction amount and the position of the moving body; A program that causes a computer to transmit the identified angular velocity of the moving body and the moving speed of the moving body to the moving body.
  • control system 11 path correction unit 12 angular velocity determination unit 13 control unit 20 information processing device 21 evaluation unit 22 angular velocity determination unit 23 simulation execution unit 24 communication unit 25 speed candidate storage unit 26 target value candidate storage unit 27 cost value storage unit 28 failure Object determining unit 30 moving object 31 communication unit 32 moving object control unit 40 obstacle 50 information processing device 51 random number generation unit 60 information processing device 61 smooth parameter generation unit

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention a pour but de fournir un système de commande permettant d'empêcher une augmentation d'une charge de calcul destinée à commander le déplacement d'un corps mobile. Selon la présente divulgation, un système de commande comprend : un moyen de correction de trajet (11) destiné, en fonction de la détection d'un obstacle positionné sur un trajet de déplacement d'un corps mobile, à spécifier une quantité de correction d'une direction dans laquelle le corps mobile se sépare du trajet de déplacement ; un moyen de spécification de vitesse angulaire (12) destiné, en fonction de la quantité de correction et de la position du corps mobile, à spécifier une vitesse angulaire pour le corps mobile ; et un moyen de commande (13) destiné, en fonction de la vitesse angulaire spécifiée pour le corps mobile et de la vitesse de déplacement du corps mobile, à commander le fonctionnement du corps mobile.
PCT/JP2021/033502 2021-09-13 2021-09-13 Système de commande, dispositif de traitement d'informations, procédé de commande et procédé de production de valeur de commande WO2023037539A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0329010A (ja) * 1989-06-27 1991-02-07 Komatsu Ltd 無人移動体の走行制御装置
WO2013002067A1 (fr) * 2011-06-29 2013-01-03 株式会社日立産機システム Robot mobile et système d'auto-estimation de position et d'attitude installé sur un corps mobile
JP2019021202A (ja) * 2017-07-20 2019-02-07 株式会社Ihi 移動ロボットの制御装置と制御方法
JP2019021199A (ja) * 2017-07-20 2019-02-07 株式会社Ihi 移動ロボットの制御装置と制御方法
JP2019175128A (ja) * 2018-03-28 2019-10-10 セコム株式会社 移動制御システム
JP2021009466A (ja) * 2019-06-28 2021-01-28 トヨタ自動車株式会社 機械学習方法および移動ロボット

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0329010A (ja) * 1989-06-27 1991-02-07 Komatsu Ltd 無人移動体の走行制御装置
WO2013002067A1 (fr) * 2011-06-29 2013-01-03 株式会社日立産機システム Robot mobile et système d'auto-estimation de position et d'attitude installé sur un corps mobile
JP2019021202A (ja) * 2017-07-20 2019-02-07 株式会社Ihi 移動ロボットの制御装置と制御方法
JP2019021199A (ja) * 2017-07-20 2019-02-07 株式会社Ihi 移動ロボットの制御装置と制御方法
JP2019175128A (ja) * 2018-03-28 2019-10-10 セコム株式会社 移動制御システム
JP2021009466A (ja) * 2019-06-28 2021-01-28 トヨタ自動車株式会社 機械学習方法および移動ロボット

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