JP4682973B2 - Travel route creation method, autonomous mobile body, and autonomous mobile body control system - Google Patents

Description

  The present invention relates to a mobile route creation method for creating a travel route for an autonomous mobile body to move, an autonomous mobile body having a travel route creation function, and an autonomous mobile body control system for performing movement control of the autonomous mobile body. .

  In recent years, vehicles and walking robots as so-called autonomous mobile bodies that autonomously move in a limited outdoor area or in a predetermined movement area such as indoors have been developed.

  In order to move such an autonomous moving body, it is necessary not only to recognize the self-position of the autonomous moving body within the moving area, but also to create a movement route that the autonomous moving body is to move in advance or in real time. is there. The autonomous mobile body is controlled to move along the created movement path.

The above-mentioned movement path is connected from the movement start point where movement starts in the movement area to the movement end point where movement is stopped, and is created by various methods based on factors such as the environment in the movement area. (For example, Patent Documents 1 and 2).
JP-A-2005-32196 JP-A-9-178481 "Trajectory planning of guidance robot to avoid obstacles" Hiroyuki Kageyama, Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology

  A movement path is created so that an autonomous mobile body does not collide with an obstacle in the movement area. Here, the obstacle includes a fixed obstacle that does not move and a moving obstacle that moves like a person or another robot. For fixed obstacles, there is no problem even if the movement route is generated sequentially if the neighborhood of this obstacle is first set as a prohibited area and a movement route is created, but for movement obstacles, Various problems occur because it involves movement. For example, when this moving obstacle has a high speed, the position of the moving obstacle changes every time a movement route is generated, so that the movement route is significantly changed. There is a possibility of colliding with an obstacle without being able to fully follow. In particular, when the moving obstacle moves relatively closer to the autonomous mobile body, the risk of collision increases.

  In addition, when a moving route is generated in real time, it is not necessary to avoid the moving obstacle when the moving obstacle crosses the moving route of the autonomous moving body at a timing at which there is no risk of colliding with the autonomous moving body. Nevertheless, in the prior art, the movement route is created using only the current position information of the moving obstacle, so that a route that avoids the moving obstacle is created as the movement route. For example, when a moving obstacle moving at a high speed in the distance crosses the movement path of the autonomous mobile body before the autonomous mobile body arrives, in this case as well, according to the prior art, such a movement obstacle A movement route that avoids an object is generated.

  From the user's point of view, this kind of movement that avoids moving obstacles that are unlikely to collide appears to be an unnatural obstacle avoidance action where there are no obstacles. Therefore, the user feels uncomfortable.

  Here, Non-Patent Document 1 discloses a technique for creating a virtual repulsive potential around an obstacle and extending the repulsive potential in the velocity direction of the object along with the point that the robot moves so as to avoid the repulsive potential. Yes. According to this Non-Patent Document 1, the repulsive potential corresponding to the prohibited area is deformed, but since the current position of the robot is included in the repulsive potential, the robot moves through behind the moving obstacle. Can not do.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a travel route creation method capable of creating a travel route that smoothly avoids a moving obstacle. is there.

  Another object of the present invention is to provide an autonomous mobile body that can move so as to avoid a moving obstacle smoothly.

  Another object of the present invention is to provide an autonomous mobile body control system that moves an autonomous mobile body so as to smoothly avoid a moving obstacle.

  The movement path creation method according to the present invention is a movement path creation method for creating a movement path of an autonomous mobile body that starts moving from a movement start point existing in a movement area and reaches a movement end point existing in the movement area. A step of calculating a future position of the moving obstacle, a step of calculating a prohibited area based on the calculated future position of the moving obstacle, and a movement path of the autonomous mobile body so as to avoid the prohibited area. And a step of creating. According to such a method, the prohibited area is calculated based on the future position, not the current position of the moving obstacle, so that it is possible to create a movement route that smoothly avoids the moving obstacle.

  Here, the step of calculating the future position of the moving obstacle is a step of calculating a movement predicted route of the autonomous moving body based on at least the current position information of the autonomous moving body, and the current position information of the moving obstacle, A step of calculating a movement prediction route of the moving obstacle based on the movement direction information; a step of calculating an intersection of the calculated movement prediction route of the autonomous moving body and the movement prediction route of the movement obstacle as a collision prediction point; Preferably, the method further comprises a step of calculating a future position of the moving obstacle at a time when the autonomous mobile body reaches the collision prediction point. Here, the movement direction information of the moving obstacle includes movement information of the translation direction and the rotation direction of the moving obstacle.

  Further, the movement prediction route of the autonomous mobile body may be a line extending from the current position specified by the current position information of the autonomous mobile body in the movement direction specified by the movement direction information. A line connecting the local position specified by the current position information and the target position of the autonomous mobile body may be used. Here, the movement direction information of the self-supporting moving body includes the movement information of the translation direction and the rotation direction of the self-supporting moving body. Furthermore, the movement prediction route of the autonomous mobile body may be a planned route calculated for the autonomous mobile body.

  The method may further include a step of determining a size of the prohibited area according to a distance between a current position specified by current position information of the autonomous mobile body and a future position of the moving obstacle. . At this time, it is preferable to reduce the size of the prohibited area as the distance between the current position of the autonomous mobile body and the future position of the moving obstacle increases.

  The autonomous mobile body according to the present invention avoids the prohibited area by means for calculating the future position of the moving obstacle, means for calculating the area including the calculated future position of the moving obstacle as the prohibited area, and Means for creating a movement route and means for moving according to the created movement route are provided.

  Here, the means for calculating the future position of the moving obstacle is a means for calculating a movement predicted route of the autonomous mobile body based on at least the current position information of the autonomous mobile body, the current position information of the moving obstacle, Means for calculating a movement prediction path of a moving obstacle based on movement direction information; means for calculating an intersection of the calculated movement prediction path of an autonomous mobile body and the movement prediction path of a movement obstacle as a collision prediction point; And means for calculating a future position of the moving obstacle at the time when the autonomous mobile body reaches the collision prediction point.

  The movement prediction route of the autonomous mobile body may be a line extending from the current position specified by the current position information of the autonomous mobile body in the movement direction specified by the movement direction information. It may be a line connecting the local position specified by the current position information and the target position of the autonomous mobile body. Furthermore, the movement prediction route of the autonomous mobile body may be a planned route calculated for the autonomous mobile body.

  The method may further include a step of determining a size of the prohibited area according to a distance between a current position specified by current position information of the autonomous mobile body and a future position of the moving obstacle. . At this time, it is preferable to reduce the size of the prohibited area as the distance between the current position of the autonomous mobile body and the future position of the moving obstacle increases.

  An autonomous mobile body control system according to the present invention is an autonomous mobile body control system for controlling the movement of an autonomous mobile body, the means for calculating the future position of a moving obstacle, and the future of the calculated moving obstacle. Means for calculating an area including a position as a prohibited area, and means for creating a movement path so as to avoid the prohibited area.

  Here, the means for calculating the future position of the moving obstacle is a means for calculating a movement predicted route of the autonomous mobile body based on at least the current position information of the autonomous mobile body, the current position information of the moving obstacle, Means for calculating a movement prediction path of a moving obstacle based on movement direction information; means for calculating an intersection of the calculated movement prediction path of an autonomous mobile body and the movement prediction path of a movement obstacle as a collision prediction point; And means for calculating a future position of the moving obstacle at the time when the autonomous mobile body reaches the collision prediction point.

  The movement prediction route of the autonomous mobile body may be a line extending from the current position specified by the current position information of the autonomous mobile body in the movement direction specified by the movement direction information. It may be a line connecting the local position specified by the current position information and the target position of the autonomous mobile body. Furthermore, the movement prediction route of the autonomous mobile body may be a planned route calculated for the autonomous mobile body.

  The method may further include a step of determining a size of the prohibited area according to a distance between a current position specified by current position information of the autonomous mobile body and a future position of the moving obstacle. . At this time, it is preferable to reduce the size of the prohibited area as the distance between the current position of the autonomous mobile body and the future position of the moving obstacle increases.

  According to the present invention, it is possible to provide a moving route creation method capable of creating a moving route that smoothly avoids a moving obstacle. Moreover, according to this invention, the autonomous mobile body which can move so that a movement obstruction can be avoided smoothly can be provided. Furthermore, according to this invention, the autonomous mobile body control system which moves an autonomous mobile body so that a movement obstruction can be avoided smoothly can be provided.

Embodiment 1 of the Invention
Hereinafter, the movement route creation method according to the first exemplary embodiment will be described with reference to the drawings.

  FIG. 1 shows an autonomous mobile body control system in which a vehicle 10 as an autonomous mobile body moves in a limited area P (area surrounded by a broken line) on a floor 1 as a mobile area by a signal from a control unit 40. 1 schematically illustrates one embodiment of 100. In FIG. 1, objects are not shown on the area P on the floor portion 1, but there are known fixed obstacles and fixed obstacles and moving obstacles detected by an external sensor, and the vehicle 10 detects these obstacles. There is a need to avoid things.

  As shown in FIG. 2, the vehicle 10 is an opposed two-wheel vehicle including a box-shaped vehicle main body 10 a, a pair of opposed wheels 11, and casters 12. The vehicle body 10a is supported horizontally. Further, a drive unit (motor) 13 for driving the wheels 11, a counter 14 for detecting the number of rotations of the wheels, and a control signal for driving the wheels are generated and driven inside the vehicle body 10 a. A calculation unit 15 that transmits the control signal to the unit 13 is provided. A control program for controlling the moving speed, moving direction, moving distance, and the like of the vehicle 10 based on the control signal is recorded in a storage area 15a such as a memory provided as a storage unit provided inside the calculation unit 15. ing. The moving speed, moving distance, etc. described above are obtained based on the number of rotations of the wheel 11 detected by the counter 14.

  Further, an external sensor 16 for recognizing an obstacle or the like appearing in the moving direction is fixed on the front surface of the vehicle body 10a, and information such as an image and a video recognized by the external sensor 16 is calculated by the calculation unit 15. As a result, the moving direction and speed of the vehicle are determined according to the control program. The external sensor 16 can be configured by a sensor that detects a laser reflected by an obstacle or the like, or a CCD camera.

  Furthermore, the top surface of the vehicle body 10a is provided with an antenna 17 for recognizing its own position. For example, position information from a GPS (not shown) is received, and the calculation unit 15 analyzes the position information. It is possible to accurately recognize its own position.

  The vehicle 10 configured in this way independently controls the drive amount of the pair of wheels 11 so that the vehicle travels straight, moves in a curve (turns), moves backward, and rotates on the spot (centering on the midpoint of both wheels). It is possible to perform a movement operation such as turning. Then, the vehicle 10 creates a movement route to the designated destination in the area P in accordance with a command from the control unit 40 that designates a movement location from the outside, and moves so as to follow the movement route. In order to reach the destination.

  In the storage area 15a provided inside the calculation unit 15, grid lines that connect lattice points arranged at substantially constant intervals d (for example, 10 cm) are virtually depicted in the shape of the entire area P on the floor 1. The grid map obtained by this is stored. As described above, the vehicle 10 recognizes its own position on the grid map by replacing the position information obtained from the GPS or the like with its own position on the grid map. On the grid map, the location corresponding to the vehicle's own position, the movement end point that is the destination, and the movement direction of the vehicle 10 at the movement end point are specified. The computing unit 15 creates a movement route from the movement start point to the movement end point that is the destination at the self-position specified on the grid map, and moves according to the created movement route.

  Next, a method for creating a movement route when a moving obstacle exists between the movement start point and the movement end point will be described with reference to FIG. In the example shown in FIG. 3, there are three moving obstacles 2a, 2b, 2c. According to the technology of the prior art, a predetermined route 3a, 3b, 3c around each moving obstacle 2a, 2b, 2c is set as a prohibited area, and a moving route is created so as not to pass through the prohibited area.

  On the other hand, in the first embodiment, the prohibited areas 4a, 4b, 4c are set after a predetermined time, that is, with reference to the positions of the future moving obstacles 2a, 2b, 2c. The movement path 5 is created so as not to pass through 4b and 4c.

  Next, a method for setting a prohibited area in the first embodiment will be described in detail with reference to FIG. FIG. 4 shows a state where there is only one moving obstacle, but even if there are a plurality of moving obstacles, the prohibited areas are set by calculating in the same manner for each moving obstacle.

  In setting the prohibited area, the current speed Vr of the autonomous mobile body 10, coordinate information (xr, yr) and traveling direction information θr as current position information, the current speed Vh of the moving obstacle 2, and coordinates indicating the current position Information (xh, yh), traveling direction information θh, and rotational speed θ′h are used. Furthermore, the current rotational speed θ′r of the autonomous mobile body 10 may be used.

  First, based on the current position information (xr, yr) and traveling direction information θr of the autonomous mobile body 10, the current position information (xh, yh) and traveling direction information θh of the moving obstacle 2, and the rotational speed θ′h. Thus, the intersection (xc, yc) between the predicted movement path 7a predicted to move the autonomous mobile body 10 and the predicted movement path 8 predicted to move the moving obstacle 2 is calculated as the collision predicted point 6a. The predicted collision point 6a is not calculated in consideration of the moving speed of the autonomous mobile body 10 or the moving obstacle 2, but is calculated only by the predicted moving path 7a and the predicted moving path 8 which are both predicted paths. This is not a precise prediction of the collision between the two. When approximated to the rotational speed θ′h = 0, the predicted movement path 8 becomes a straight line, but when the rotational speed θ′h ≠ 0, it becomes a circular arc.

  In the first embodiment, the predicted movement path 7a of the autonomous mobile body 10 is a straight line extending from the current position (xr, yr) of the autonomous mobile body 10 in the traveling direction θr and in the opposite direction. Similarly, the predicted movement path 8 of the moving obstacle 2 is a straight line extending from the current position (xh, yh) of the moving obstacle 2 in the traveling direction θh and in the opposite direction. In this example, the straight lines extending in the direction opposite to the traveling directions θr and θh are also the predicted movement paths 7a and 8, but only the straight lines extending in the traveling directions θr and θh may be used.

  Next, a distance Lr from the current position (xr, yr) of the autonomous mobile body 10 to the predicted collision point (xc, yc) is calculated. Then, by dividing the distance Lr by the current speed Vr of the autonomous mobile body 10, a time T until the autonomous mobile body 10 reaches the collision prediction point 6a is calculated. By multiplying this time T by the current speed Vh of the moving obstacle 2, the distance Lh to which the moving obstacle 2 moves is obtained as time T elapses. Then, by calculating a position (xh ′, yh ′) moved in the traveling direction by the distance Lh from the current position (xh, yh) of the moving obstacle 2 on the predicted movement path 8, time T has elapsed from the present. The future position of the moving obstacle 2 at the time when the autonomous mobile body 10 reaches the collision prediction point 6a later can be obtained. And the prohibition area | region of the movement obstruction 2 is set based on this future position (xh ', yh'). Specifically, in this example, a circular range having a predetermined distance from the future position (xh ′, yh ′) is set as the prohibited area. The prohibited area may have a size of an area separated from the outer periphery of the moving obstacle 2 by a certain distance.

  Thus, in the present invention, in order to estimate the future predicted position of the moving obstacle 2, the speed information of the autonomous moving body 10 and the moving obstacle 2 and the relative distance between the autonomous moving body 10 and the moving obstacle 2 are calculated. We are using. Then, the prohibited area is moved to the future predicted position of the moving obstacle 2. As a result, the predicted position of the moving obstacle 2 having a large speed and the moving obstacle 2 in the distance move greatly in the speed direction. On the other hand, the predicted position of the moving obstacle 2 with a low moving speed or the nearby moving obstacle 2 is in the vicinity of the current position of the moving obstacle 2.

  Thus, by providing the prohibition area at the predicted position of the moving obstacle 2, it is possible to avoid the moving obstacle 2 at a high speed and to move through the back surface of the moving obstacle 2.

  Next, the control of the autonomous mobile body having this movement route creation function will be described using the flowchart shown in FIG.

  First, the calculation unit 15 compares the map data of the environment stored in the storage area 15a as known information with the measurement data acquired by the external sensor 16, and recognizes the measurement data not included in the map data as a moving obstacle. (S101). Further, the calculation unit 15 stores the position information of the recognized moving obstacle in the storage area 15a. Note that, based on the history information of the measurement data, it is also possible to recognize only obstacles in which movement is observed among measurement data not included in the map data as moving obstacles.

  Next, the calculating part 15 performs the process which groups the recognized movement obstruction (S102). Specifically, when it is determined that the distance between the recognized moving obstacles is shorter than a preset distance (that is, when it is determined that the moving obstacles are close to each other), the distance between them is reduced. Recognize as one obstacle. Such grouping processing makes it possible to recognize the left and right feet of a person as one obstacle. The computing unit 15 stores the grouped moving obstacle position information in the storage area 15a.

  The computing unit 15 estimates the moving speed at the center of gravity of each moving obstacle group (S103). Specifically, first, position information of the center of gravity of each moving obstacle group is calculated. Next, the movement distance of the moving obstacle group is calculated by comparing the position of the center of gravity of the moving obstacle group calculated at the timing before one control cycle with the position of the center of gravity of the moving obstacle group calculated at the current timing. Then, by dividing this by the control period, the speed of each moving obstacle group is calculated. Here, the control cycle is, for example, 120 milliseconds.

  Next, the calculation unit 15 sets a prohibited area (S104). The setting of the prohibited area is as described with reference to FIG. 4. When there are a plurality of moving obstacle groups, the prohibited area is set for all of them.

  Further, the calculation unit 15 generates a movement route that avoids movement within the set prohibited area (S105). As the route generation method, various route generation methods can be applied. For example, a travel route is searched by using an A * (Aster) route search method. The generated travel route information is stored in the storage area 15a.

  And the autonomous mobile body 10 is controlled by producing | generating the control signal for driving a wheel based on the produced | generated moving route information, and outputting with respect to the drive part 13 (S106). Thereby, the autonomous mobile body 10 moves following the movement route specified by the movement route information.

  As described above, according to the moving route creation method according to the first embodiment, it is possible to create a moving route that smoothly avoids moving obstacles. In particular, even if the moving obstacle has a large speed, a prohibited area can be set according to the speed, so the risk of collision with this moving obstacle can be greatly reduced. Can do. Furthermore, it is possible to move through the back of the moving obstacle.

  In addition, since the autonomous mobile body that operates based on the travel route created by the travel route creation method according to the first embodiment does not perform an operation that avoids a travel obstacle that is unlikely to collide, an unnatural obstacle A natural movement operation can be performed without performing an avoidance operation, and anxiety to the user can be suppressed.

Embodiment 2 of the Invention
In Embodiment 1 of the invention, the movement prediction route of the autonomous mobile body is a straight line extending from the current position of the autonomous mobile body in the traveling direction and in the opposite direction. However, in Embodiment 2, the current position of the autonomous mobile body is And a straight line connecting the movement end points.

  As shown in FIG. 6, a straight line connecting the current position of the autonomous mobile body 10 and the movement end point 9 is used as a movement prediction path 7b, and an intersection 6b of the movement obstacle 2 with the movement prediction path 8 is obtained. A movement route is created in the same manner as the movement route creation method according to the first aspect.

  Also in the movement route creation method according to the second exemplary embodiment, the same effects as in the first exemplary embodiment of the invention can be achieved.

Embodiment 3 of the Invention
In the first embodiment of the invention, the movement prediction route of the autonomous mobile body is a straight line extending from the current position of the autonomous mobile body in the traveling direction and in the opposite direction, but in this third embodiment, the autonomous movement created at the present time It was used as a body movement route.

As shown in FIG. 7 , in the third embodiment, the movement predicted path 7c is the movement path of the autonomous mobile body 10 created at the present time, and this movement path is the current position of the autonomous mobile body 10, the movement end point. Then, using the information such as the prohibited area, a moving route is created using, for example, an A * (Aster) route searching method.

  Also in the movement route creation method according to the third exemplary embodiment, the same effect as in the first exemplary embodiment of the invention can be obtained, and the collision prediction point can be calculated more accurately. Can be avoided.

Embodiment 4 of the Invention
In the first to third embodiments of the invention, the size of the prohibited area is constant, but in the fourth embodiment, the size of the prohibited area is changed according to the relative distance between the autonomous mobile body and the prohibited area. I am letting.

  As shown in FIG. 8, in this example, the relative distance to the autonomous mobile body 10 is shorter in the order of the prohibited area 4a, the prohibited area 4b, and the prohibited area 4c, but the relative distance to the autonomous mobile body 10 is longer. It is set to become smaller. That is, the prohibition area is set to be smaller with respect to the autonomous mobile body 10 as the prohibition area 4 is farther away.

  Here, the reason why the size of the prohibited area is changed will be described. When the environment changes dynamically, even if it is predicted that there is a moving obstacle in the traveling direction of the autonomous mobile body, the moving obstacle farther away from the autonomous mobile body, Since the time until the timing when the autonomous mobile body may collide with the moving obstacle is long, it is difficult to predict the movement of the moving obstacle. In this case, if the prohibited area of the distant moving obstacle is made the same size as the prohibited area of the nearby moving obstacle, the distant moving obstacle is largely avoided although the risk of collision is relatively low. Generating a route makes the movement of the autonomous mobile body unnatural. Therefore, in the fourth embodiment, for such a moving obstacle that is difficult to predict, the size of the prohibited area is reduced or made zero so that the operation of the autonomous moving body becomes natural. did.

  For example, the size of the prohibited area is determined as in the graph shown in FIG. That is, the size of the prohibited area is constant until the distance between the autonomous mobile body 10 and the prohibited area 4 is P2. Further, when the distance between the autonomous mobile body 10 and the prohibited area 4 is from P2 to P3, it continuously changes so that the size of the prohibited area decreases as the distance increases. Furthermore, when the distance between the autonomous mobile body 10 and the prohibited area 4 is P3 or more, the size of the prohibited area is set to zero.

  Further, the relationship between the attribute of the obstacle and the relative distance between the autonomous mobile body and the prohibited area will be described with reference to FIG. As shown in FIG. 10, for a fixed obstacle, a prohibited area is set for both the distant and the vicinity, but for a moving obstacle, a prohibited area is set only for the vicinity, and a prohibited area is not set for a distant place.

  In this example, the size of the prohibited area is determined based on the relative distance between the autonomous mobile body and the prohibited area, but the relative distance between the current position of the autonomous mobile body and the current position of the moving obstacle is determined. You may make it determine based on. The change in the size of the prohibited area may be discretely changed without continuously changing according to the relative distance between the autonomous mobile body and the prohibited area (moving obstacle).

Other embodiments.
In the above-described embodiment, the example in which the vehicle 10 is a two-wheeled vehicle including the casters 12 has been described, but the present invention is not limited to this. That is, the autonomous mobile body may be a steering type (one-wheel drive type, one steering) vehicle or a so-called inverted pendulum type two-wheel carriage that travels on a plane while controlling the inverted state. . Such an inverted pendulum type two-wheel carriage is provided with an inclination detection unit such as a gyro for detecting an inclination degree such as an inclination angle and an inclination angular velocity with respect to a vertical direction of the vehicle body, instead of including a caster. Then, the vehicle is driven to move by driving the wheel while maintaining the inverted state of the vehicle body based on the control signal for moving the vehicle, which is stored in a storage area (memory) provided inside the arithmetic unit. It can be moved by a program that gives output to the section.

  Furthermore, the autonomous mobile body is not limited to the two-wheel type as described above, and may be various types of vehicles such as a front two-wheel and a rear two-wheel four-wheel vehicle. In particular, in the case of a moving body that moves by a wheel, since it cannot move in the axial direction of the wheel (direction perpendicular to the traveling direction), when the moving route creation method according to the present invention is applied, the moving end point ( It becomes possible to reach the destination.

  Furthermore, the above-described autonomous mobile body is not limited to a vehicle, and the present invention can be applied to a walking robot that performs legged walking. In particular, in walking control of a walking robot, it is possible to perform autonomous movement without performing walking or running with a large curvature as much as possible, and therefore, it is possible to simplify the control necessary for performing stable walking as much as possible. .

  In the above-described embodiment, the vehicle 10 recognizes its own position by receiving position information from GPS or the like, but the present invention is not limited to this. That is, the self-position may be recognized by obtaining the moving amount and moving direction from a known point based on the driving amount of the wheel, the moving direction, and the like. In this case, a single or a plurality of markers or the like that provide position information are installed in the area as the moving area to be moved, and the autonomous moving body is provided on the autonomous moving body when moving on the marker. You may make it read the positional information memorize | stored in the marker from the reading part.

  Further, the grid map as described above may be stored on the control unit side instead of being stored on the autonomous mobile body side (storage area of the calculation unit). That is, the above-described grid map may be stored as data in a storage area such as a memory or HDD provided in a control unit for controlling an autonomous mobile body, and a movement route may be created.

1 is an overall view schematically showing an autonomous mobile control system according to the present invention. It is a perspective view which shows roughly the vehicle as an autonomous mobile body contained in the autonomous mobile body control system shown in FIG. It is explanatory drawing for demonstrating the movement route creation method concerning this invention. It is explanatory drawing for demonstrating the movement route creation method concerning this invention. It is a flowchart which shows the control process of the autonomous mobile body concerning this invention. It is explanatory drawing for demonstrating the movement route creation method concerning this invention. It is explanatory drawing for demonstrating the movement route creation method concerning this invention. It is explanatory drawing for demonstrating the movement route creation method concerning this invention. It is a graph which shows the relationship between the magnitude | size of the prohibition area | region in the moving route creation method concerning this invention, and the relative distance of an autonomous mobile body and a prohibition area | region. It is a table | surface which shows the relationship of the relative distance of the attribute of the prohibition area | region in the movement route creation method concerning this invention, and an autonomous mobile body and a prohibition area | region.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Floor part 2 ... Moving obstacle 3 ... Forbidden area | region 4 when the conventional movement path | route preparation method is applied ... Forbidden area | region 5 when the movement path | route preparation method of this invention is applied・ ・ Movement path 6 ・ ・ ・ Collision prediction point 7 ・ ・ ・ Movement prediction path 8 for autonomous mobile body ・ ・ ・ Movement prediction path 9 for moving obstacles ・ ・ ・ Target point 10 ・ ・ ・ Vehicle (autonomous mobile body)
15 ・ ・ ・ Calculation unit P ・ ・ ・ Area (movement area)

Claims (12)

In a land movement area where a moving obstacle exists, a movement path of an autonomous moving body that moves autonomously while avoiding a collision with the moving obstacle from a movement start point set in the movement area to a movement end point A travel route creation method to be created,
Calculating a movement predicted route of the autonomous mobile body based on at least current position information of the autonomous mobile body;
Calculating a movement predicted route of the moving obstacle based on current position information and movement direction information of the moving obstacle;
Calculating the position of the moving obstacle as the future position of the moving obstacle when the autonomous moving body reaches the intersection of the movement predicted path of the autonomous moving body and the movement predicted path of the moving obstacle; ,
Setting a forbidden area around the future location;
Setting the size of the prohibited area to be smaller as the distance between the current position of the autonomous mobile body and the future position of the moving obstacle is larger;
Moving path creation method comprising the steps of creating a moving path of the autonomous moving body so as to avoid the prohibited area. The movement prediction path of the autonomous moving body from the current position identified by the current position information of the autonomous moving body, according to claim 1, characterized in that a line extended in the movement direction specified by the movement direction information How to create a moving route. Movement prediction path of the autonomous moving body, the current position specified by the current position information of the autonomous moving body, according to claim 1, wherein there in the line connecting the target position of the autonomous moving body How to create a moving route. Movement prediction path of the autonomous moving body, the moving path creation method according to claim 1, characterized in that the planned route calculated for the autonomous moving body. In a land moving area where a moving obstacle exists, an autonomous moving body that moves autonomously while avoiding a collision with the moving obstacle from a movement start point set in the movement area to a movement end point,
Means for calculating a movement predicted route of the autonomous mobile body based on at least current position information of the autonomous mobile body;
Means for calculating a predicted movement path of the moving obstacle based on current position information and moving direction information of the moving obstacle;
Means for calculating the position of the moving obstacle as the future position of the moving obstacle at the time when the autonomous moving body reaches the intersection of the movement predicted path of the autonomous moving body and the movement predicted path of the moving obstacle; ,
Means for setting a forbidden area around the future position;
Means for setting the size of the prohibited area to be smaller as the distance between the current position of the autonomous mobile body and the future position of the moving obstacle is larger;
It means for creating a moving path of the autonomous moving body so as to avoid the prohibited area,
An autonomous mobile body comprising means for moving according to the created travel route. The movement prediction path of the autonomous moving body from the current position identified by the current position information of the autonomous moving body, according to claim 5, characterized in that a line extended in the movement direction specified by the movement direction information Autonomous mobile body. Movement prediction path of the autonomous moving body, the current position specified by the current position information of the autonomous moving body, according to claim 5, characterized in that is a line connecting the target position of the autonomous moving body Autonomous mobile body. The autonomous mobile body according to claim 5 , wherein the predicted movement path of the autonomous mobile body is a planned path calculated for the autonomous mobile body. Controls the movement of an autonomous moving body that moves autonomously while avoiding a collision with the moving obstacle from a movement start point set in the movement area to a movement end point in a land movement area where a moving obstacle exists. An autonomous mobile control system for
Means for calculating a movement predicted route of the autonomous mobile body based on at least current position information of the autonomous mobile body;
Means for calculating a predicted movement path of the moving obstacle based on current position information and moving direction information of the moving obstacle;
Means for calculating the position of the moving obstacle as the future position of the moving obstacle at the time when the autonomous moving body reaches the intersection of the movement predicted path of the autonomous moving body and the movement predicted path of the moving obstacle; ,
Means for setting a forbidden area around the future position;
Means for setting the size of the prohibited area to be smaller as the distance between the current position of the autonomous mobile body and the future position of the moving obstacle is larger;
Autonomous moving body control system and means for creating a moving path of the autonomous moving body so as to avoid the prohibited area. Movement prediction path of the autonomous moving body, from the current position identified by the current position information of the autonomous moving body, according to claim 9, characterized in that a line extended in the movement direction specified by the movement direction information Autonomous mobile control system. Movement prediction path of the autonomous moving body, the current position specified by the current position information of the autonomous moving body, according to claim 9, characterized in that in the line connecting the target position of the autonomous moving body Autonomous mobile control system. The autonomous mobile body control system according to claim 9 , wherein the movement prediction path of the autonomous mobile body is a planned path calculated for the autonomous mobile body.

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