Title:
移動制御装置、移動体制御方法、及び制御プログラム
Document Type and Number:
Japanese Patent JP5790677
Kind Code:
B2
Abstract:
A moving body control system includes a driving velocity detector that detects a driving velocity of a driving device that drives a moving body, a posture state detecting device that detects posture information of the moving body, a posture controller that produces a first driving velocity command for the driving device, based on the posture information and an entered posture information command, a velocity command producer that produces a second driving velocity command for the driving device, by adding the first driving velocity command and the driving velocity, and a velocity controller that controls the driving device, by producing a torque command for the driving device, based on the second driving velocity command and the driving velocity. The velocity controller performs velocity control so that the driving velocity follows the second driving velocity command. The posture controller performs posture control so that the posture information follows the posture information command.
Inventors:
Yusuke Kosaka
Shin Oikawa
Shin Oikawa
Application Number:
JP2013027828A
Publication Date:
October 07, 2015
Filing Date:
February 15, 2013
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B62K17/00; B62K3/00; G05D1/02
Domestic Patent References:
| JP2010030436A | ||||
| JP2011051557A | ||||
| JP2010035330A | ||||
| JP2004276727A |
Foreign References:
| WO2010116644A1 |
Attorney, Agent or Firm:
Ken Ieiri