Method of controlling movement of moving body

[Detailed Description of the Invention]

(b) The object of an invention [Industrial Application] It uses for a mobile robot's etc. move control.

Art 1 of [former A mobile robot carries out the work that it is dangerous that reputation carries out or difficult accompanied by movement instead of man. Therefore, movement of the mobile which can control own movement between real ll and V promptly corresponding to movement of other mobiles that the collision with other objects of which - movement is done, for example, a person, a car, other mobile robots, etc. should be avoided in a design of a mobile robot! Development of the method through which it passes is indispensable.

detecting a stillness obstacle [Problem(s) to be Solved by the Invention], however conventionally, and receiving such a moving obstacle, although avoiding the collision with this obstacle is considered -- sufficient readiness -- owner 1 * To -- the effective move system 0I17'I method was not developed. This invention is that which be done up in view of the situation like the above, and while a mobile robot moves, the moving obstacle which are other mobiles is detected, It aims at providing the move control method of the mobile which can boil every moment whether it will collide with the mobile when it moves then, and can presume it very promptly, and can control the movement speed for collision evasion, such as acceleration, a slowdown, and a turn, based on the presumption. (Ro) Constitution of an invention Means] for solving E problem Corresponding to this object, it is the move control method of the mobile this invention, A mobile is the move control method of avoiding the collision with other moving obstacles, When it considers that the above-mentioned mobile has the shape of the figure which consists of a point which is in the equal distance from the center position A and considers that the above-mentioned moving obstacle has the shape of the figure which consists of a point which is in the equal distance from the center position B When the relative position and relative velocity of point B which were seen from PointA are measured, and radius r2 of the above-mentioned moving obstacle is presumed and the inner product of a relative position and relative velocity is negative, A distance of the lIJ line and point A of hitting a road when point B goes straight on with the above-mentioned relative velocity from the above-mentioned relative position using these measured value and estimates, and radius r1 of the above-mentioned Transfer O A object is Calculation(ed) 51 times, D and r1+ "two are compared and D is characterized by performing operation of changing the speed of the above-mentioned mobile to grinding smaller than r 1+r 2 so that D may become larger than r 1+r 2, every moment. Hereinafter, the details of this invention are explained about the drawing in which one example is shown. First, the case where the mobile robot and moving obstacle which are mobiles move in two-dimensional space is considered. That is, a mobile robot and a moving obstacle are considered to be the plane figures which exercise a fixed plane top parallel to the walk side of move [1 A hot, and the collision evasion is considered. First, the form of move Robots I~ is approximated with the circle of radius r1. As this circle, a mobile robot's circumscribed circle may be sufficient, or the circle which gave the margin to the radius and which includes a mobile robot may be sufficient. On the other hand, a moving obstacle is also approximated with the circle of radius r2. Here, the form and large Kisa of A holiday of a moving obstacle are undetectable to move Robots1~. A way Immediately and a mobile robot detect a moving obstacle, As shown in Drawing 3, one point A of mobile robot 1 emitting light emits thin beam 2 of a laser beam or an ultrasonic wave to space around Move D A bowl 1-, It scans rotating around point A emitting light, and presumes existence, a size, and a position of moving obstacle 3 by time which existence of the reflection, central angle theta of a reflective portion, and reflection take. A form and a size of portion 3a of shade from which reflection of a laser beam etc. is not obtained are undetectable. Then, radius r2 at the time of considering that A holiday of a moving obstacle is a circle is more greatly presumed from the size of reflective portions, such as a laser beam, and moving obstacle 3 is approximated with the circle of radius r2. Moving obstacles 3 are sometimes the position of Hourly, i.e., the position of the center of the circle of the above-mentioned radius r2, (X 2(1), V2 (1)), and speed 2. (X'2 (j) and y'2 (j A)) 1q To be are problems by the measurement using the above-mentioned laser beam etc., Radius r1 as shown in Drawing 4, position vector 6 main formula (XI, Vl), and circle C1 that moves by speed 1 = a S+b j, and approximates mobile robot 1, When mobile robot 1 does iri Advance as it is, it collides, but it is replaced with circle C2 which moves by position vector [ of radius r2 and a center ] U (x2.y2), and speed 2=ci+dj, and approximates moving obstacle 3 to the problem which confirms whether to be no. here -- i and j -- respectively -- for X@ and yNh(s) -- a large -- affected -- considering it as the vector of 1 (xl-x2) + (yl-y2)2> (r1+ r2) It carries out. Only the relative velocity of the moving obstacle seen from the mobile robot is considered instead of considering both speed, and it is (d-b) (c-a) =v2-1= i+j about the speed of 0 and a moving obstacle in a mobile robot's speed. = ki10 -- IIU even if it thinks that it comes out -- both -- colliding -- although -- or [ no ] -- about -- the relation is equivalent. In the case of 7n and>0 (however, - an inner product table ' Without) (i.e., obstacle B), when it is in the direction which keeps away from robot delta by Advance lupsilon, it is not necessary to check a collision about this solid 1~Le and relative position vector'KTJ. In AB-v To O, it will be necessary to check in detail. In that case, even if a mobile robot's radius is considered to be 0 and it considers the radius of a point and an object to be r=r1+r2 for a mobile robot in a model, since distance dAB between both does not change, the relation about whether both collide or not is equivalent [ distance ] (Drawing 5). Therefore, a problem is [ point ] center B (x2.y2) to a secret investigation about 100 and relative velocity in the relative position vector of point B at the time of 100 and <0, circle C of radius r=r1+r2 -- speed 1 -- it is movement at 2-1 -- the field which hits the course of sharp To circle C, That is, it can come back to the problem which confirms whether point △ (xl, Vl) is included in beltlike field L1 whose distance from straight line m which hits the course shown in Drawing 5 with the slash in case point B (x2.y2) moves with the relative velocity of a moving obstacle is below r. The equation of straight line m m:j! (x X2) since it is k = (V V2) 0 -- A distance of straight line m and point A (xl, yl) -- D -- = l 1 (xl-x2) -k (yl-y) 115T10,007=Ik(y2 Vl)-j (X2 Xl) I / 2 -- " ... It is given by (1) and is D<=r. it will collide, if it becomes, and a mobile robot advances as it is -- if it [>r becomes, it will be presumed that a mobile robot advances as it is and does not collide. A Not shown case is D<r in Drawing 5. If it will collide if a mobile robot advances as it is, but a mobile robot stops immediately, a course of circle C will serve as the direction of 2, and dashed line p1 and an inner side inserted by l2 will carry out a field, and it is .. Since a next door and this do not contain To point, a collision is avoided. In the case of Drawing 5, the mobile robot does not necessarily need to stop, and a collision is avoided also by making it speed 3 which has size A situation smaller than V at a slowdown, i.e., the same direction as 1. That is, relative velocity of a moving obstacle may be set to 1-3, it may grind having made it field L1 of the inner side inserted by a dashed dotted line parallel to this Not shown straight line Q1.q2 be a course of circle C, point A may not be included to field L1, and it may make. A collision is similarly avoided by Acceleration. That is, it may Acceleration to 4, relative velocity of a moving obstacle may be set to 1-4, point A may not be included [ having made it field L2 of the inner side inserted by two point gt line S1.S2 / parallel to this / be a course of circle C, and ] to field L2, and it may make. The course will be changed when these slowdowns and Acceleration turn into a sudden slowdown impossible for a mobile robot, and Acceleration to an impossible speed. If the course is changed in the case of Drawing 5 and it is actually made speed 5, speed will remain as it is to increase and decrease of Without, and the course field of circle C will be set to the L2 [ same ] as the case where it Acceleration to v4. Therefore, detection of a moving obstacle shall be performed when that a mobile robot encounters in the move space is the distance which permits the slowdown and Acceleration, or the turn which the distance with the moving obstacle expected described above. By the way, it is although there is inaccuracy resulting from both having been approximated with the circle in the above-mentioned presumption, Also the portion of the shade which was not visible from a mobile robot as the moving obstacle was approached, when having moved performing this presumption every moment was possible, Since it will go into the portion which is visible from a mobile robot before the time of being the target of a collision, it is clear that the right presumption can eventually be obtained in real time. now -- in (1) type (k and j persons expressing the component of the relative velocity vector of the moving obstacle seen from the mobile robot) It is important for (X2 Xl and V2 Vl) that they are the coordinates of a moving obstacle when parallel translation of the axis of coordinates is carried out so that MA (x1.yl) may serve as the starting point in a mobile robot's, i.e., the relative position of the moving obstacle seen from the mobile robot. since it will come out if it sets with Immediately D=' [ l x] (t) y (t) -y' (t) x (t) l ... It is set to (2) and distinction of whether to collide becomes possible in real time at high speed by an easy system configuration as shown in Drawing 1 according to the formula (2). (However, this system configuration is easily [ three dimensions ] extensible to Drawing 1 (] Derivative is unnecessary when relative velocity is separately called for from a sensor.).) That is, a mobile robot is approximated with central position A (x , y , z) and the ball of radius r1, at least that main approximates a moving obstacle with the ball of 1ffB (x2, y2, z2) and radius r2, and it is far. Inner product P=x (t) of a relative velocity vector and position Baek l~Le x' (t) +V (t) V' (t) +z (t) z' (t) But -- only when negative, there is possibility of a collision. In a course when point B moves then with the relative velocity of the moving obstacle seen from the mobile robot Straight line: (x-x2) (y-y2) /x'(t) = /y' (1) = (z z2) A distance of /z' (t) and point A (xl, yl, zl) ... Since it is (3), it is D > r 1. D<=r 1 which will not collide if it becomes +r 2 It is as presuming that it will collide if it becomes and being shown in Drawing 2 +r 2. It is shown in Drawing 6 (a) and (b) by making into moving obstacle management Navigation (naViQatiOn) a flow chart for a mobile robot's computer to actually perform the move control method for avoiding the moving obstacle explained above. Along with the planned moving trucking, a landmark (1and++ark) is usually set to movement of a mobile robot, Dividing this moving trucking into some short sections divided with the landmark, move [1 A bot moves this landmark as the target in each section, i.e., a subcall. Therefore, Drawing 6 is described as Navigation during a subcall. Although it is coped with by any of a slowdown, a stop, and Acceleration to the detected moving obstacle, when these neither is safe, the course will be changed and the shunting course to the subgoal will be designed. The discriminating method of the present invention which was ground and was shown in Drawing 1 which gives judgment of Yes and No for "whether being safety" here is used. If the rib goal is reached, according to Snow and a schedule, a target will be moved to the following landmark at E x ITP. When it is a nonavoidable moving obstacle, it dies to E X ITI, and Zaboard will be changed into another landmark, therefore the sequence of the subgoal will be globally re-determined as it. The flow chart of the whole which contains such Navigation of Drawing 6 as a portion is shown in Drawing 7. (C) EFFECT OF THE INVENTION According to [ passage clear from the above explanation ] this invention, the move control method of the mobile which can control own movement by real time promptly corresponding to movement of other mobiles can be acquired.

[Brief Description of the Drawings]

Drawing 1 is a flow chart showing how to distinguish the possibility of the collision with the moving obstacle used as the foundations of the move control method of the mobile of this invention about the case of two-dimensional space, Drawing 2 is a flow chart showing how to distinguish the possibility of the collision with the moving obstacle used as the foundations of the move control method of the mobile of this invention about the case of three-dimensional space, Drawing 3 is a plane explanatory view showing how a mobile robot detects a moving obstacle , Drawings 5 are the plane explanatory view in which Drawing 4 approximated move [1 A bot and a moving obstacle with the circle, and an explanatory view showing the relative position and relative velocity of the moving obstacle seen from move Robots]-, and the relation of the possibility of a collision, The flow chart in which Drawing 6 (a) and (b) shows moving obstacle management Navigation, and Drawing 7 are flow charts showing Navigation of the whole containing moving obstacle management Navigation of Drawing 6. 1 ... Mobile robot 2 ... Beam 3 ... Drawing 1 of a moving obstacle Drawing 2