Title:
CONTROL METHOD FOR MOVING BODY, CONTROL METHOD, AND PROGRAM
Document Type and Number:
Japanese Patent JP2020192906
Kind Code:
A
Abstract:
To provide a controller, a control method, and a program for a movable body capable of reducing possibility of collision with a terrain surface while obtaining stability in posture.SOLUTION: A correction target value is calculated by adding a target bias value which is adjusted based on a situation of inclination in a terrain surface to a basic target value of a control parameter when controlling a movable body having at least one of the altitude or stance angle to the terrain surface of the moving body as a control parameter. The moving body is controlled to that the control parameter becomes the correction target value.SELECTED DRAWING: Figure 3
Inventors:
EGUCHI KAZUKI
AWAYA ICHIRO
YASUDA SHUSAKU
AWAYA ICHIRO
YASUDA SHUSAKU
Application Number:
JP2019099994A
Publication Date:
December 03, 2020
Filing Date:
May 29, 2019
Export Citation:
Assignee:
MITSUBISHI HEAVY IND LTD
International Classes:
B63G8/20; B63C11/00; B63C11/48; B63G8/24; B64C13/18; G05D1/00; G05D1/04; G05D1/08; G05D1/10
Domestic Patent References:
| JP2013141916A | 2013-07-22 | |||
| JP2017105306A | 2017-06-15 | |||
| JPS463940B1 | ||||
| JPS59184099A | 1984-10-19 | |||
| JP2008265651A | 2008-11-06 |
Attorney, Agent or Firm:
Seishin ip patent business corporation