MOVING BODY CONTROLLER AND CONTROL METHOD, AND MOVING BODY

• Main Author: TAKAOKA HIDETOSHI
• Format: Patent
• Language: English; Japanese
• Published: 12.10.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

To provide a moving body controller and control method capable of tolerating various delays including a communication delay, and a moving body.SOLUTION: A controller 1 generates a virtual space on the basis of a behavior in a real space of each of UAVs 2 belonging to a UAV group, and controls the behavior of each UAV 2 in the real space on the basis of the behavior of each UAV 2 in the virtual space. The controller 1 includes an identification unit that identifies a future moving route and past moving route of one UAV 2 in the virtual space, a virtual moving body control unit that controls the behavior of another UAV 2 for fear the another UAV 2 may pass the future moving route and past moving route in the virtual space, and a real moving body control unit that controls the behavior of the another UAV 2 in the real space according to the behavior of the another UAV 2 in the virtual space.SELECTED DRAWING: Figure 1 【課題】通信遅延等の種々の遅延を許容可能な移動体の制御装置及び制御方法、並びに移動体を提供する。【解決手段】制御装置１は、ＵＡＶ群に含まれる各ＵＡＶ２の実空間における挙動に基づいて仮想空間を生成し、その仮想空間における各ＵＡＶ２の挙動に基づいて、実空間における各ＵＡＶ２の挙動を制御する。制御装置１は、仮想空間における一のＵＡＶ２の将来の移動経路及び過去の移動経路を特定する特定部と、仮想空間において、他のＵＡＶ２が前記将来の移動経路及び前記過去の移動経路を通過しないように、前記他のＵＡＶ２の挙動を制御する仮想移動体制御部と、仮想空間における前記他のＵＡＶ２の挙動に応じて、実空間における前記他のＵＡＶ２の挙動を制御する実移動体制御部とを備える。【選択図】図１