Title:
CONTROL DEVICE AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2021/024352
Kind Code:
A1
Abstract:
Provided is a highly versatile technology for controlling a plurality of moving bodies. This control device is provided with: an information acquisition unit; a group recognition unit which uses information acquired by the information acquisition unit to output a group status indicating whether or not a first moving body and a second moving body are to be recognized as constituting a moving body group; a control unit which, on the basis of the group status, controls the movement of the first moving body using a control rule selected from among a plurality of control rules; and a control rule change determination unit which outputs a control rule change signal indicating whether or not the control rule is to be changed. On the basis of the control rule change signal, the control unit selects the control rule to be used when controlling the movement of the first moving body.
Inventors:
TSUCHIMOTO YUYA (JP)
TSUKAHARA YUHEI (JP)
YAMAZUMI MITSUHIRO (JP)
ITO NAOSUKE (JP)
IMAMURA NAOKI (JP)
KURISHIGE MASAHIKO (JP)
TSUKAHARA YUHEI (JP)
YAMAZUMI MITSUHIRO (JP)
ITO NAOSUKE (JP)
IMAMURA NAOKI (JP)
KURISHIGE MASAHIKO (JP)
Application Number:
PCT/JP2019/030721
Publication Date:
February 11, 2021
Filing Date:
August 05, 2019
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G05D1/00
Domestic Patent References:
| WO2018105599A1 | 2018-06-14 |
Foreign References:
| JPH10261195A | 1998-09-29 | |||
| JP2017519279A | 2017-07-13 | |||
| JP2004505338A | 2004-02-19 | |||
| JP2017062768A | 2017-03-30 |
Other References:
MIYAZAKIL TATSUYA, TAKABA KIYOTSUGU: "Formation Control of Mobile Robots with Obstacle Avoidance", 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, 201401001, pages 121 - 126, XP055651969
FUJITA, MASAYUKI ET AL.: "Cooperative Control: Basic Results on Consensus and Coverage Control Problems", PROCEEDINGS OF THE 52ND ANNUAL CONFERENCE OF THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS, vol. 52, 2008, pages 1 - 6
OTA, JUN ET AL.: "Multi-agent Robot Systems", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 20, no. 5, 2002, pages 25 - 28, ISSN: 0289-1824
FUJITA, MASAYUKI ET AL.: "Cooperative Control: Basic Results on Consensus and Coverage Control Problems", PROCEEDINGS OF THE 52ND ANNUAL CONFERENCE OF THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS, vol. 52, 2008, pages 1 - 6
OTA, JUN ET AL.: "Multi-agent Robot Systems", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 20, no. 5, 2002, pages 25 - 28, ISSN: 0289-1824
Attorney, Agent or Firm:
YOSHITAKE Hidetoshi et al. (JP)
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