WO2021024352A1

WO2021024352A1 - Control device and control method

Info

Publication number: WO2021024352A1
Application number: PCT/JP2019/030721
Authority: WO
Inventors: 祐也土本; 裕平塚原; 允裕山隅; 尚祐伊藤; 今村　直樹; 栗重　正彦
Original assignee: 三菱電機株式会社
Priority date: 2019-08-05
Filing date: 2019-08-05
Publication date: 2021-02-11
Also published as: JP7046275B2; JPWO2021024352A1

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.

Description

Control device and control method

The technology disclosed in the present specification relates to a mobile body control device and a mobile body control method.

In the technical field of area search using drones, automatic transportation using robots in factories, or platooning of automobiles, by linking multiple moving objects as a group (moving object group), a predetermined purpose can be achieved efficiently. A well-achieved method has been proposed.

As a method of controlling a plurality of such moving bodies, there are a method of using a central management system capable of controlling all moving bodies at once, and a method of using an autonomous decentralized system in which each moving body performs a control operation individually. There is.

Of these, for autonomous decentralized systems that do not require centralized management, individual mobiles can behave adaptively as a group (mobile group) without centralized management or information processing of the surrounding environment. It has a high degree of versatility that it can be controlled (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-62768

Regarding the control method as a group (mobile group), for example, Patent Document 1 describes a control rule for recovering a group (mobile group) when the group (mobile group) is divided due to a failure or disconnection of communication. ..

However, the method shown in Patent Document 1 has a problem that it is inferior in versatility because it does not change the control rule according to the purpose or the situation.

The technology disclosed in the present specification has been made in view of the problems described above, and an object thereof is to provide a control technology for a plurality of mobile objects having high versatility. is there.

The first aspect of the technique disclosed in the present specification is a control device provided in the first moving body, in which the state quantity of the first moving body is different from that of the first moving body. A state quantity of at least one second moving body, an information acquisition unit for acquiring information on the surroundings of the first moving body, and a state of the first moving body acquired by the information acquisition unit. The first moving body and the first moving body are used by using at least the state amount of the second moving body among the amount, the state amount of the second moving body, and the surrounding information of the first moving body. It is selected from a plurality of control rules based on a group recognition unit for determining whether or not to recognize the two moving bodies as a moving body group and outputting the determination result as a group state, and the group state. Of the control unit for controlling the movement of the first moving body, the group state, the state amount of the second moving body, and the surrounding information of the first moving body using the control law. A control rule change determination unit for determining whether or not to change the control law used in the control unit and outputting the determination result as a control law change signal is provided based on at least one of the above. The control unit selects the control rule to be used when controlling the movement of the first moving body based on the control rule change signal.

A second aspect of the technique disclosed herein is a state quantity of a first mobile body, a state quantity of at least one second mobile body that is a mobile body different from the first mobile body, and. , At least of the state amount of the first moving body, the state amount of the second moving body, and the surrounding information of the first moving body by acquiring the surrounding information of the first moving body. Using the state quantity of the second moving body, it is determined whether or not the first moving body and the second moving body are recognized as a moving body group, and the determination result is output as a group state. Then, based on the group state, the movement of the first moving body is controlled by using a control rule selected from a plurality of control rules, and the group state, the state quantity of the second moving body, and the state amount of the second moving body are controlled. Based on at least one of the surrounding information of the first moving body, it is determined whether or not to change the control law, and the determination result is output as a control law change signal, and the control law change signal is output. Based on the above, the control rule used when controlling the movement of the first moving body is selected.

The first aspect of the technique disclosed in the present specification is a control device provided in the first moving body, in which the state quantity of the first moving body is different from that of the first moving body. A state quantity of at least one second moving body, an information acquisition unit for acquiring information on the surroundings of the first moving body, and a state of the first moving body acquired by the information acquisition unit. The first moving body and the first moving body are used by using at least the state amount of the second moving body among the amount, the state amount of the second moving body, and the surrounding information of the first moving body. It is selected from a plurality of control rules based on a group recognition unit for determining whether or not to recognize the two moving bodies as a moving body group and outputting the determination result as a group state, and the group state. Of the control unit for controlling the movement of the first moving body, the group state, the state amount of the second moving body, and the surrounding information of the first moving body using the control law. A control rule change determination unit for determining whether or not to change the control law used in the control unit and outputting the determination result as a control law change signal is provided based on at least one of the above. The control unit selects the control rule to be used when controlling the movement of the first moving body based on the control rule change signal. According to such a configuration, the information acquired by the information acquisition unit is used to determine whether or not to recognize the first moving body and the second moving body as a moving body group, depending on the situation. It is possible to control the movement of the first moving body by determining whether the control is performed as a group of moving bodies or individually. Further, whether or not to change the control rule in the control unit based on the group state, the state amount of the first moving body, the state amount of the second moving body, or the surrounding information of the first moving body. By determining, the movement of the first moving body can be controlled by an appropriate control rule according to the situation.

A second aspect of the technique disclosed herein is a state quantity of a first mobile body, a state quantity of at least one second mobile body that is a mobile body different from the first mobile body, and. , At least of the state amount of the first moving body, the state amount of the second moving body, and the surrounding information of the first moving body by acquiring the surrounding information of the first moving body. Using the state quantity of the second moving body, it is determined whether or not the first moving body and the second moving body are recognized as a moving body group, and the determination result is output as a group state. Then, based on the group state, the movement of the first moving body is controlled by using a control rule selected from a plurality of control rules, and the group state, the state quantity of the second moving body, and the state amount of the second moving body are controlled. Based on at least one of the surrounding information of the first moving body, it is determined whether or not to change the control law, and the determination result is output as a control law change signal, and the control law change signal is output. Based on the above, the control rule used when controlling the movement of the first moving body is selected. According to such a configuration, the information acquired by the information acquisition unit is used to determine whether or not to recognize the first moving body and the second moving body as a moving body group, depending on the situation. It is possible to control the movement of the first moving body by determining whether the control is performed as a group of moving bodies or individually. Further, whether or not to change the control rule in the control unit based on the group state, the state amount of the first moving body, the state amount of the second moving body, or the surrounding information of the first moving body. By determining, the movement of the first moving body can be controlled by an appropriate control rule according to the situation.

Further, the objectives, features, aspects, and advantages related to the technology disclosed in the present specification will be further clarified by the detailed description and the accompanying drawings shown below.

It is a figure which conceptually shows the autonomous decentralized control device of a mobile body group, and the mobile body which is the control target with respect to embodiment. It is a figure which shows the example of a plurality of moving bodies. It is a flowchart which shows the example of the switching operation of the control rule which concerns on embodiment. It is a figure for demonstrating the group state. It is a figure for demonstrating the group state. It is a figure which shows the example of the group state which concerns on embodiment. It is a figure which shows the example of the group state which concerns on embodiment. It is a figure which shows the example of the group state which concerns on embodiment. It is a figure which shows the example of the group state which concerns on embodiment. It is a figure which shows the example of the group state which concerns on embodiment. It is a figure which shows the example of the structure of the information acquisition part conceptually. It is a figure which shows the example of the application area and the boundary of the coating control. It is a figure which schematically exemplifies the hardware configuration in the case of actually operating the autonomous distributed control system shown in FIG. It is a figure which schematically exemplifies the hardware configuration in the case of actually operating the autonomous distributed control system shown in FIG. It is a figure which conceptually shows the example of the structure of the communication mode switching part which concerns on embodiment. It is a figure which conceptually shows the example of the structure of the communication mode switching part which concerns on embodiment. It is a figure which conceptually shows the example of the structure of the communication mode switching part which concerns on embodiment. It is a figure which conceptually shows the example of the structure of the communication mode switching part which concerns on embodiment. It is a figure which conceptually shows the example of the structure of the communication mode switching part which concerns on embodiment.

Hereinafter, embodiments will be described with reference to the attached drawings. In the following embodiments, detailed features and the like are also shown for the purpose of explaining the technique, but they are examples, and not all of them are necessarily essential features in order for the embodiments to be feasible.

It should be noted that the drawings are shown schematically, and for convenience of explanation, the configuration is omitted or the configuration is simplified as appropriate in the drawings. Further, the interrelationship between the sizes and positions of the configurations and the like shown in the different drawings is not always accurately described and can be changed as appropriate. Further, even in a drawing such as a plan view which is not a cross-sectional view, hatching may be added in order to facilitate understanding of the contents of the embodiment.

Further, in the explanation shown below, similar components are illustrated with the same reference numerals, and their names and functions are also the same. Therefore, detailed description of them may be omitted to avoid duplication.

In addition, in the description described below, when it is described that a certain component is "equipped", "included", or "has", the existence of another component is excluded unless otherwise specified. Not an expression.

Also, even if ordinal numbers such as "first" or "second" are used in the description described below, these terms make it easy to understand the content of the embodiment. It is used for convenience, and is not limited to the order that can be generated by these ordinal numbers.

<First Embodiment>
Hereinafter, the autonomous distributed control device and the autonomous distributed control method according to the present embodiment will be described.

<About the configuration of the autonomous distributed control device>
FIG. 1 is a diagram conceptually showing an autonomous distributed control device 3 of a mobile body group and a mobile body 1 to be controlled thereof according to the present embodiment. Further, FIG. 2 is a diagram showing an example of a plurality of moving bodies.

As an example is shown in FIG. 1, the autonomous distributed control device 3 includes a group recognition unit 4, an information acquisition unit 5, an integrated control unit 6, and a control rule change determination unit 7. Further, the integrated control unit 6 includes a consensus control unit 61, a covering control unit 62, and a motion control unit 63.

The moving body 1 in the present embodiment whose example is shown in FIGS. 1 and 2 is, for example, a two-wheeled robot. Further, the moving body 2 adjacent to the moving body 1 as shown in FIG. 2 is also a two-wheeled robot, for example.

However, in the present embodiment, the moving body 1 and the moving body 2 are two-wheeled robots, but any moving body such as a four-wheeled automobile, an artificial satellite, or a drone, which is controlled to a predetermined position and orientation by actuator drive. It can be anything. Further, the moving body 1 and the moving body 2 are not limited to the same type of moving body.

Further, the above-mentioned "adjacent" means that the moving body 1 and the moving body 2 exist in a predetermined space.

FIG. 3 is a flowchart showing an example of a control rule switching operation according to the present embodiment. As an example is shown in FIG. 3, in the control rule switching operation according to the present embodiment, first, the state quantity and surrounding information of the moving body (moving body 1) are acquired (step ST01 in FIG. 3). Then, the group state is determined based on these (step ST02 in FIG. 3).

Next, it is determined whether or not there is another moving body (moving body 2) regarded as a group (moving body group) (step ST03 in FIG. 3). Then, when another moving body (moving body 2) exists, that is, when it corresponds to "YES" branching from step ST03 whose example is shown in FIG. 3, the process proceeds to step ST04 whose example is shown in FIG. move on. On the other hand, when there is no other moving body (moving body 2), that is, when it corresponds to "NO" branching from step ST03 shown in FIG. 3, an example is shown in step ST05. Proceed to.

Then, when the process proceeds to step ST04, control (group control) is performed to regard these moving bodies as a group (moving body group). In this case, the motion control of the moving body (moving body 1) is performed by selecting either consensus control or covering control, which are control rules having different control purposes, according to the purpose or the situation. Here, the consensus control means a control that converges the states of a plurality of controlled objects (moving bodies) to the same value. Further, the coating control refers to controlling a moving body so as to optimally cover a given region.

On the other hand, when the process proceeds to step ST05, the motion control of the moving body (moving body 1) is performed by independent control (specifically, path tracking control) that does not depend on the state quantity of the other moving body (moving body 2). I do. Details will be described below.

The group recognition unit 4 in FIG. 1 determines whether or not to control the moving body 1 and the moving body 2 as a group (moving body group) based on the information acquired by the information acquisition unit 5 described later. To do.

First, the group recognition unit 4 determines that the moving body 1 has acquired the state quantity of the moving body 2 based on the information acquired by the information acquisition unit 5, and regards these as a group (moving body group). It is one of the conditions.

It may be added to the condition that the moving body 2 does not behave abnormally based on the state quantity of the moving body 2.

Further, the group recognition unit 4 may determine whether or not to consider these as a group (moving body group) according to the state amount of the moving body 1 or the state amount of the moving body 2. For example, when making a judgment based on the positional relationship or distance between the moving body 1 and the moving body 2, if the distance between the moving bodies is large, it is not regarded as a group (moving body group) and the distance between the moving bodies. If they are close to each other, they are regarded as a group (mobile group).

Further, the condition for determining whether or not to consider a plurality of moving bodies as a group (moving body group) may be the relative speed of these moving bodies. For example, when the relative velocity between a plurality of moving bodies is smaller than 0, the distance between the moving body 1 and the moving body 2 decreases, so that it can be regarded as a group (moving body group). On the contrary, when the relative velocity between the plurality of moving bodies is larger than 0, the distance between the moving body 1 and the moving body 2 increases, so that the group (moving body group) is not regarded. In the above, the relative speed is compared with 0 for the determination, but an arbitrary threshold value may be set and used for the determination.

Further, the future state quantity may be estimated from the current state quantity of the moving body, and further, it may be determined whether or not a plurality of moving bodies are regarded as a group (moving body group) based on the future state quantity. By making a judgment based on the future state quantity, it is possible to realize group control that achieves the control purpose faster.

Further, an evaluation function using a plurality of state quantities may be set, and when the value of the evaluation function is equal to or greater than the threshold value, a plurality of moving objects may be regarded as a group (moving object group).

Further, the group recognition unit 4 may determine whether or not to consider a plurality of moving objects as a group (moving body group) based on the surrounding information (surrounding information) acquired by the information acquisition unit 5. For example, in a narrow passage, it is desirable that a plurality of moving bodies are lined up in a straight line. Therefore, the moving bodies 2 arranged before and after the moving body 1 may be regarded as a group (moving body group). Further, in a place where moving bodies are likely to be crowded, in order to avoid a collision, all other moving bodies existing within a certain range from the moving body 1 may be regarded as a group (moving body group).

When the "condition to be regarded as a group" shown in the above example is satisfied, the group recognition unit 4 outputs that the moving body 1 and the moving body 2 are a group (moving body group) as a group state.

4 and 5 are diagrams for explaining the group state. As an example is shown in FIG. 4, when another moving body 2A, moving body 2B, moving body 2C and moving body 2D are arranged with respect to the moving body 1, the state of FIG. 4 to the state of FIG. 5 Consider arranging them in a straight line.

6, FIG. 7, FIG. 8, FIG. 9 and FIG. 10 are diagrams showing examples of group states according to the present embodiment. FIG. 6 shows an object (another moving body) that the moving body 1 considers as a group (moving body group) in the state shown in FIG. In FIG. 6, the arrows point from the moving body 1 to the moving body 2A, from the moving body 1 to the moving body 2B, and from the moving body 1 to the moving body 2C, in which the moving body 1 is the moving body 2A and the moving body 2C. It shows that 2B and mobile 2C are regarded as a group (mobile group).

Here, the moving body 2A shall act independently based on a preset action command or a sequentially updated action command. Such a moving body is called a leader machine. In FIG. 6, an arrow starting from the moving body 2A is not shown, which means that the moving body 2A is a leader machine that acts independently.

It is assumed that the moving body 2B, the moving body 2C, and the moving body 2D each have the same autonomous distributed control device 3 as the moving body 1. The autonomous decentralized control device 3 of the moving body 1 determines whether or not the adjacent moving body 2A, moving body 2B, moving body 2C, and moving body 2D are regarded as a group (moving body group).

First, the autonomous decentralized control device 3 determines whether or not the moving body 1 can acquire the state amount of another moving body based on the information acquired by the information acquisition unit 5, and further, the determination result. Based on, it is determined whether or not the moving body 1 and another moving body are regarded as a group (moving body group), and the group state is determined.

Here, it is assumed that the moving body 1 can acquire all the state quantities of the moving body 2A, the moving body 2B, the moving body 2C, and the moving body 2D.

Since there are a plurality of patterns of the mobile group that can be realized by the target regarded as the group (mobile group), the group recognition unit 4 determines one of these patterns as the group state.

For example, the moving body 2A is regarded as another moving body located behind the moving body 1, and the moving body 1 regards the moving body 2A as a group (moving body group). Further, the moving body 2B and the moving body 2C are regarded as moving bodies located in front of the moving body 1, respectively, and the moving body 1 regards the moving body 2B and the moving body 2C as a group (moving body group). On the other hand, since the moving body 2D is located at a position farther from the moving body 1 than the moving body 2B and the moving body 2C, the moving body 1 does not consider the moving body 2D as a group (moving body group).

Similarly, the mobile body 2B, the moving body 2C, and the moving body 2D having the same autonomous decentralized control device 3 as the moving body 1 also determine whether or not each of the other moving bodies is regarded as a group (moving body group). ..

FIG. 7 shows an object (another moving body) that the moving body 2B considers as a group (moving body group) in the state shown in FIG. In FIG. 7, the arrows point from the moving body 2B to the moving body 1 and from the moving body 2B to the moving body 2C, respectively, in which the moving body 2B refers to the moving body 1 and the moving body 2C as a group (moving body group). It shows that it is regarded.

FIG. 8 shows an object (another moving body) that the moving body 2C considers as a group (moving body group) in the state shown in FIG. In FIG. 8, the arrows point from the moving body 2C to the moving body 1 and from the moving body 2C to the moving body 2B, respectively, in which the moving body 2C refers to the moving body 1 and the moving body 2B as a group (moving body group). It shows that it is regarded.

FIG. 9 shows an object (another moving body) that the moving body 2D considers as a group (moving body group) in the state shown in FIG. In FIG. 9, the arrow points from the moving body 2D to the moving body 2C, which indicates that the moving body 2D considers the moving body 2C as a group (moving body group).

FIG. 10 is a diagram showing an example of a control structure of the entire group by superimposing the arrows shown in FIGS. 6, 7, 8 and 9, respectively.

Here, the moving body 2A does not recognize the moving body 1, the moving body 2B, the moving body 2C, and the moving body 2D as a group (moving body group), but the moving body 1 with respect to the moving body 2A acting independently. By acting in cooperation with each other, control as a mobile group can be realized.

Further, although the moving body 1 and the moving body 2D are not regarded as a group (moving body group), the moving body 2D regards the moving body 1 as a group (moving body group) and controls the movement of the moving body 2B. And the mobile 2C is regarded as a group (mobile group). Therefore, although the moving body 1 and the moving body 2D are not regarded as a group (moving body group), they can indirectly interact with each other to realize control as a moving body group.

Here, in FIG. 10, the arrow points from the moving body 1 to the moving body 2A, but does not point from the moving body 2A to the moving body 1 (directed graph). On the other hand, the moving body 1 and the moving body 2B have arrows facing each other (undirected graph). The control performance as a group control can be improved by regarding each other as a group (mobile group) (that is, an undirected graph).

On the other hand, the larger the number of objects recognized as a group (mobile group), the larger the group (mobile group), but the amount of information exchanged between the mobiles increases accordingly, so the transmission and reception of information in communication is delayed. May occur. Further, since the amount of calculation related to the motion control of each moving body also increases, the group recognition unit 4 separates the objects to be regarded as a group (moving body group) and reduces the number of objects to avoid or calculate the communication delay. It is also possible to realize a reduction in the amount.

FIG. 11 is a diagram conceptually showing an example of the configuration of the information acquisition unit 5. As an example is shown in FIG. 11, the information acquisition unit 5 includes a direct information acquisition unit 51, an indirect information acquisition unit 52, and a communication mode switching unit 53.

The information acquisition unit 5 acquires the state quantity of the moving body 1 and other moving bodies, or the surrounding information of the moving body 1 as information for controlling the moving body 1.

The direct information acquisition unit 51 acquires the state quantity of the moving body 1 or the surrounding information of the moving body 1. For example, as the state quantity of the moving body 1, the position information of the moving body 1 is acquired by the global positioning system (GPS).

Further, the direct information acquisition unit 51 acquires the relative distance between the moving body 1 and the other moving body, or the relative position of the other moving body as seen from the moving body 1 by a camera, millimeter wave, radar, or the like. To do. Here, the relative distance between the moving body 1 and the other moving body is the state quantity of the moving body 1 and the other moving body. Since the relative distance, the relative position, and the relative speed are state quantities related to both the moving body 1 and the other moving body, they are also the state quantities of the moving body 1 (first moving body) and other moving bodies. It is also the state quantity of (second moving body).

Further, the direct information acquisition unit 51 acquires the state quantity of the moving body 1 by using the state quantity estimation formula based on the information obtained from GPS or the above sensor.

Although the position information is taken as an example in the above, the information acquisition unit 51 can directly acquire various state quantities such as velocity or acceleration by properly using the type of sensor to be used.

Further, the direct information acquisition unit 51 acquires map information or obstacle information as surrounding information of the moving body 1.

The indirect information acquisition unit 52 acquires the state amount of the moving body 1, the state amount of the other moving body, or the surrounding information of the moving body 1 through communication with another moving body.

More information can be acquired by the mobile body 1 acquiring not only the information directly acquired by the information acquisition unit 51 but also the information from another mobile body via communication. Further, since control can be performed based on this information, the control performance is improved particularly when controlling as a group (moving body group).

The information regarding the relative distance or the relative position may be acquired by the direct information acquisition unit 51, or may be calculated based on the information acquired by the indirect information acquisition unit 52.

For example, the information regarding the position of the moving body 1 is directly acquired by the information acquisition unit 51 by GPS. Further, the indirect information acquisition unit 52 acquires information on the position of the other mobile body by communication from the other mobile body. After that, the relative distance or relative position of the moving body 1 can be calculated using the position of the moving body 1 and the position of another moving body.

The integrated control unit 6 controls the movement of the moving body 1 based on the above-mentioned group state. The integrated control unit 6 has two or more types of control rules, and the control rule change determination unit 7 determines whether or not to change the control law.

Whether or not the control rule change determination unit 7 changes the control rule in the integrated control unit 6 based on the group state, the state amount of the moving body 1, the state amount of another moving body, or the surrounding information of the moving body 1. Is determined, and the determination result is output as a control rule change signal.

In the present embodiment, the integrated control unit 6 has three types of control rules, and the control rule change determination unit 7 outputs the corresponding three types of control rule change signals.

When the group state is a state in which another moving body is not recognized as a group (moving body group), the control rule change determination unit 7 outputs a control rule change signal = 1, and the group state is another. When the moving body is recognized as a group (moving body group), the control rule change signal = 2 or the control rule change signal = 3 is output.

Then, when the control rule change signal = 2, the consensus control described later is performed, and when the control rule change signal = 3, the covering control described later is performed, and the control rule change signal is sent to the motion control unit 63. Output.

Here, switching of control rules (consensus control and cover control) as a group (mobile group) will be described.

<Switching condition 1>
In the switching condition 1, the consensus control and the covering control are switched based on the group state. Specifically, from the group state, when the number of other moving bodies regarded as a group (moving body group) is a certain number or more, the consensus control is applied, and the other moving bodies regarded as a group (moving body group) If it is less than a certain number, the coating is controlled.

In consensus control, there is an advantage that the convergence of control is improved by controlling more objects (moving bodies) as a group (moving body group). On the other hand, in the covering control, it is sufficient to set a boundary for a small number of moving bodies located in the vicinity and control the covering, so that even a small number of moving bodies can be sufficiently controlled as a group (moving body group).

<Switching condition 2>
In the switching condition 2, the consensus control and the covering control are switched based on the state quantities of the moving body 1 and other moving bodies. For example, when the relative distance is more than the threshold value, the relative distance can be adjusted to an arbitrary distance by using consensus control. Further, when the relative speed is equal to or higher than the threshold value, it is expected that the relative distance will increase in the future. Therefore, by using consensus control, it is possible to prevent the relative distance from increasing.

On the other hand, if the relative distance is less than the threshold value, covering control is applied. In the coating control, when the distance between the moving bodies is short, it is possible to maintain an appropriate distance so that the moving bodies do not come too close to each other. In this case, it is not necessary to set an appropriate relative distance as in the consensus control, and the distance between the moving bodies can be determined by the mutual positional relationship.

<Switching condition 3>
In the switching condition 3, the consensus control and the covering control are switched based on the surrounding information of the moving body 1. For example, when the sensor detects that the surrounding space is narrow, covering control is used. In the coating control, when the distances between the moving bodies are short, it is possible to maintain an appropriate distance so that the moving bodies do not come too close to each other. In this case, it is not necessary to set an appropriate relative distance as in the consensus control, and the distance between the moving bodies can be determined by the mutual positional relationship.

On the other hand, if the surrounding area is wide, consensus control is used. In the consensus control, it is possible to control the distance between the moving bodies by setting an arbitrary value so that the plurality of moving bodies do not spread too much in a wide space.

The surrounding information may be received from the infrastructure equipment by communication, or preset map information may be used. Further, the control rule may be switched depending on the presence or absence of an obstacle, not limited to the size of the space.

Further, the switching condition of the control rule may be a combination of the switching condition 1, the switching condition 2 and the switching condition 3 described above. For example, from the group state, the density is calculated by referring to the number of other moving bodies recognized as a group (moving body group) and the distance between the other moving bodies, and the density is equal to or higher than the threshold value. If there is, switch to coating control.

Further, the control law of another moving body in the vicinity may be acquired via communication, and the control law of the moving body 1 may be switched according to the control law of the other moving body. For example, if other moving bodies in the vicinity are controlled by consensus control, the control rule of the moving body 1 is also consensus control. In this way, the control performance can be improved by controlling the group (moving body group) according to the same control rule.

The motion control unit 63 in the integrated control unit 6 receives the control rule change signal which is the output of the control rule change determination unit 7 and changes the control rule.

When the control rule change signal = 1, the motion control unit 63 controls the motion of the moving body 1 so that the moving body 1 moves to a designated point without depending on the state quantity of the other moving body. Do. For example, a proportional-integral-diffrential control controller (PID) controller is configured so that the designated point and the position of the moving body 1 match, and the operation amount of the moving body 1 is calculated.

When the control rule change signal = 2, the motion control unit 63 controls the motion of the moving body 1 based on the operation amount output from the consensus control unit 61 described later. The consensus control unit 61 calculates the operation amount of the moving body 1 so as to match an arbitrary state amount of the moving body 1 with a desired state designation amount. The details of consensus control will be described later.

When the control rule change signal = 3, the motion control unit 63 controls the motion of the moving body 1 based on the operation amount output from the covering control unit 62 described later. The covering control unit 62 calculates a target position within the boundary generated from the position of the moving body 1 and the position of another moving body, and operates the moving body 1 based on the position of the moving body 1 and the target position. Is calculated. The details of the coating control will be described later.

In the above, the operation amount of the moving body 1 is the target speed, but other operation amounts such as the target acceleration may be used instead of the target speed. Further, it may be a combination of a plurality of operation amounts.

In the motion control unit 63 in the integrated control unit 6, the target speed, which is the above-mentioned operation amount, is added to the current position of the moving body 1 to obtain a new position command. Further, the position of the moving body 1 is controlled by passing the deviation between the new position command and the position of the moving body 1 through the PID controller. In this way, the motion control unit 63 controls the motion of the moving body 1.

<About consensus control>
In the agreement control, the difference between the state amount of the moving body 1 and the state amount of another moving body is matched with the desired state amount specified value for the target recognized as the group (moving body group) by the group recognition unit 4. It is a control to make. In the present embodiment, the state quantities of the moving body 1 and other moving bodies are defined as the positions of the moving bodies. The difference between the state quantity of the moving body 1 and the state quantity of the other moving body corresponds to the relative position. Hereinafter, description will be made with reference to FIG.

The moving body 1 and the moving body 2A, the moving body 2B, the moving body 2C and the 2D are numbered respectively. The moving body 1 is k = 1, the moving body 2A is k = 2, the moving body 2B is k = 3, the moving body 2C is k = 4, and the moving body 2D is k = 5.

The dynamics of each moving body can be expressed by the equations of state of the following equations (1-1) and (1-2). _{Here, x} k (t) is the position vector of the moving object number _{k, u} k (t) is the control input vector of the moving object in the k-th, _{A k} and _{B k} are the k-th It is a parameter matrix of the moving body, and x _k 0 is the initial position vector of the moving body No. k. The position vector, in the case of two-dimensional _plane, an _{x k (t) = (p} xk, p yk).

Here, consider the moving body 1. The difference between the state quantity of the moving body 1 and the state quantity of the other moving body can be expressed by the following equation (1-3).

Z _1j corresponding to the relative position may be acquired by using a sensor or the like, or the difference between the position of the moving body 1 and the position of another moving body may be calculated.

In this case, the desired state specified value _{_{_{d 1j = (d x1j, d}}} yij) of the respective other mobile 2A, mobile 2B, set to the mobile 2C and mobile 2D.

Further, by calculating the manipulated variable u using the following equation (1-4), the manipulated variable u for controlling the moving body 1 so that x _ij and _dig match can be calculated. .. The formula (1-3) is the following formula (1-5) in the example shown in FIG.

Here, a _ij is set as 1 for a moving body that is regarded as a group (moving body group) from the group state, and 0 for a moving body that is not regarded as a group (moving body group). In the example shown in FIG. 6, since the moving body 2A, the moving body 2B, the moving body 2C and the moving body 2D are regarded as a group (moving body group), a ₁₂ , a ₁₃ , a ₁₄ = 1 and a ₁₅ = 0. That is, the moving body 1 does not depend on the state quantity of the moving body 2D which is not regarded as a group (moving body group).

Here, when the desired state designation value d _1j is a zero vector, control is performed so that the position of the moving body 1 and the position of the other moving body match. If the desired state designation value d _1j is not a zero vector, it is controlled so as to be arranged with a distance of | d _x1j | in the X-axis direction and | d _y1j | in the Y-axis direction.

For example, in order to arrange a plurality of moving bodies in a row as shown in FIG. 5, d _x1j may be a non-zero constant and _dy1j may be 0. With such a configuration, a plurality of moving bodies can be arranged in a row with reference to the position of the moving body 2A.

Further, the equation (1-6) may be obtained by adding the repulsive force U _1j of the moving body 1 to the other moving body j to the equation (1-4). The repulsive force U _1j is calculated by dividing the adjustment gain b by the relative distance | Z _1j |, as in the equation (1-7), for example.

As a result, the smaller the relative distance, that is, the closer the moving body i and the moving body j are, the larger the repulsive force U _1j is, so that collision can be avoided.

In the above example, the matching state quantity is used as the position of the moving body, but the matching state quantity may be used as the speed of the moving body. Further, it may be a state quantity that matches both the position of the moving body and the speed of the moving body.

<About coating control>
Hereinafter, the covering control unit 62 will be described. The covering control unit 62 controls the target to be the group (moving body group) recognized by the group recognition unit 4 based on the information obtained by the direct information acquisition unit 51 or the indirect information acquisition unit 52.

Here, the covering control calculates the target position in the boundary generated from the position of the moving body 1 and the position of another moving body, and operates the moving body 1 based on the position of the moving body 1 and the target position. It is a control to calculate the quantity. The covering control has an advantage that it is easy to avoid a collision between the moving bodies by considering the moving body 1 and the other moving bodies separately in a region separated by a boundary.

In the covering control, first, the application area of the covering control is set based on the information around the moving body 1 (surrounding information). The application area of the covering control may be set in advance or may be acquired by communication from the outside.

FIG. 12 is a diagram showing an example of an application area and a boundary of coating control. It is assumed that the application area of the covering control is an area in which the moving body 1 and other moving bodies are included in the range.

For example, as an example in FIG. 12 is shown, centered on the position of the moving body 1 at a certain time t _1, 1 side sets the square area is W [m] as an application region of the coating control. Then, the length W of one side is set so that the other moving body is included in the range.

Here, for the sake of simplification of the explanation, the application area of the covering control once set is treated as unchanged, but based on the state quantity of the moving body 1 and other moving bodies or the surrounding information of the moving body 1. May be changed.

The application area of the coating control is set based on the surrounding information of the moving body 1. For example, map information is used as the surrounding information of the moving body 1. The map information may be set in the moving body 1 in advance, or may be acquired by communication from the outside.

Based on the map information, for example, in the case of a room, the length W of one side of the square is determined from the size of the room. The application area of the coating control is not limited to a square, but may be a rectangle, a circle, or the like. Further, in the case of being outdoors, the application area of the covering control may be set based on the obstacles around the moving body 1. Further, in the case of a moving body traveling on a road, road information such as a road width or the number of lanes may be used as map information.

Next, the boundary 100 is set from the position of the moving body 1 and the position of another moving body. The boundary 100 divides the application region of the covering control into a region of the moving body 1 and a region of another moving body. The method of dividing the application area of the covering control is not particularly limited, but for example, the application area of the covering control is set with the perpendicular bisector between the position of the moving body 1 and the position of the other moving body as the boundary 100. To split.

When there are a plurality of other moving bodies, for example, when there are three other moving bodies, as shown in FIG. 12, for each of the moving body 2A, the moving body 2B, and the moving body 2C, as shown in FIG. Then, it is divided between the area of the moving body 1 and the area of the moving body 2A, the area of the moving body 1 and the area of the moving body 2B, and the area of the moving body 1 and the area of the moving body 2C. The application area of the coating control is divided into four in total.

For example, Voronoi division is used as a method of dividing the application area of the coating control. At this time, the moving body 1 searches for an object connected by a Delaunay triangle from the group state, and performs Voronoi division.

Then, by setting the weight function value based on the application area of the covering control, the desired formation of the moving body group is realized.

For example, when it is desired to spread a plurality of moving objects evenly within the application area of the covering control, the weighting function value is obtained from the weighting function φ (q) of the following equation (2-1). Here, q represents the coordinates of a point in the application area of the covering control.

In addition, when it is desired to make a plurality of moving objects gather at a specific place within the application area of the covering control, for example, the weighting function is set by the following equation (2-2). In this weighting function φ (q), the value of the weighting function is set so as to decrease toward the coordinates p at an arbitrary point. r is a variable for adjusting the value of the weight function. Not limited to this weighting function, a weighting function for realizing a desired arrangement can be set by setting the value of the weighting function at a specific location to be large or small.

Then, it calculates the center of gravity of the boundary on the basis of the application area and the weighting function values and the boundary of the coating control, the center of gravity position and the target position D ₁ of the within the boundary. Further, the operation amount of the moving body 1 is calculated based on the position of the moving body 1 and the target position D ₁ .

If separated application area of the coating controlled at the boundary to the inside of the boundary moving body 1 is present a region C _1. Considering the region C ₁ as a rigid body and the weight function φ (q) as the density distribution, the mass (C ₁ ) represented by the following equation (2-3) is the mass, and the cent (C ₁ ) is the region C ₁ . Corresponds to the position of the center of gravity.

The operation amount of the coating control is calculated by the following equation (2-4). Here, k is the control gain of the covering control, and the operation amount u ₁ is calculated based on the deviation between the position x ₁ of the moving body 1 and the center of gravity position D ₁ which is the target position.

With the above configuration, the application area of the covering control and the weight function value are set according to the desired formation, and the center of gravity position within the boundary calculated based on these is set as the target position to obtain the desired formation. Covering control can be realized.

Note that the application area or weighting function of the covering control may be shared by communication in the surrounding moving body. By sharing the application area or weighting function of the covering control, the cooperation as a group (mobile group) is strengthened, and the performance of the group control is improved.

Further, the position of the moving body may be represented by an absolute coordinate system or a relative coordinate system based on an arbitrary point. When the position of a moving body is represented by a relative coordinate system, a reference point may be determined and the coordinate system may be set to that as the origin. For example, when the reference object is a moving body, the origin of the relative coordinate system seen from the absolute coordinate system moves according to the speed of the reference moving body.

The indirect information acquisition unit 52 is a functional unit for the mobile body 1 to acquire information from the mobile body 2 by communication. Therefore, for example, even if the moving body 1 cannot directly obtain the information of the moving body 2A by the information acquisition unit 51, if the moving body 2B can acquire the information of the moving body 2A, for example, The mobile body 1 can indirectly acquire the information of the mobile body 2A from the mobile body 2B by communication.

By providing the indirect information acquisition unit 52, it is possible to indirectly acquire information that cannot be acquired only by the direct information acquisition unit 51. Further, by communicating by a communication method suitable for the situation, for example, it is possible to acquire information on a long-distance moving object that is outside the detection range of the sensor.

Further, in the above, the control rule is determined after the group state is determined, but the mode of determination is not limited to this. For example, the control law may be determined after the group state is determined, and a new group state suitable for the control rule may be constructed from the group states. As a result, it is possible to obtain an additional effect that the optimum group control according to the control law can be performed.

<Hardware configuration of autonomous distributed control device>
13 and 14 are diagrams schematically illustrating a hardware configuration when the autonomous distributed control device shown in FIG. 1 is actually operated.

The hardware configurations illustrated in FIGS. 13 and 14 may not be consistent with the configurations illustrated in FIG. 1, but the configuration exemplified in FIG. 1 is a conceptual unit. It is due to the fact that it is shown.

Therefore, at least one configuration illustrated in FIG. 1 comprises a plurality of hardware configurations exemplified in FIGS. 13 and 14, and one configuration exemplified in FIG. 1 is composed of FIGS. 13 and 14. There are cases where a part of the hardware configurations illustrated in FIG. 1 is supported, and there are cases where a plurality of configurations exemplified in FIG. 1 are provided in one hardware configuration exemplified in FIGS. 13 and 14. Can be assumed.

In FIG. 13, as a hardware configuration for realizing the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 in FIG. 1, a processing circuit 1102A for performing an operation and a storage capable of storing information can be stored. The device 1103 is shown. These configurations are the same in other embodiments.

FIG. 14 shows a processing circuit 1102B that performs an operation as a hardware configuration for realizing the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 in FIG. The configuration is the same in other embodiments.

The storage device 1103 includes, for example, a hard disk drive (Hard disk drive, that is, HDD), a random access memory (random access memory, that is, RAM), a read-only memory (read only memory, that is, ROM), a flash memory, and an erase program memory. (EPROM) and memory (storage medium) including volatile or non-volatile semiconductor memory, magnetic disk, flexible disk, optical disk, compact disk, mini disk or DVD, etc. Alternatively, it may be any storage medium used in the future.

The processing circuit 1102A may execute a program stored in a storage device 1103, an external CD-ROM, an external DVD-ROM, an external flash memory, or the like. That is, for example, it may be a central processing unit (CPU), a microprocessor, a microprocessor, or a digital signal processor (DSP).

When the processing circuit 1102A executes a program stored in a storage device 1103, an external CD-ROM, an external DVD-ROM, an external flash memory, or the like, the group recognition unit 4, the integrated control unit 6, and the integrated control unit 6 The control rule change determination unit 7 is realized by software, firmware, or a combination of software and firmware in which a program stored in the storage device 1103 is executed by the processing circuit 1102A. The functions of the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 may be realized, for example, by coordinating a plurality of processing circuits.

The software and firmware may be described as a program and stored in the storage device 1103. In that case, the processing circuit 1102A realizes the above function by reading and executing the program stored in the storage device 1103. That is, the storage device 1103 may store a program in which the above functions are eventually realized by being executed by the processing circuit 1102A.

Further, the processing circuit 1102B may be dedicated hardware. That is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an integrated circuit (application specific integrated circuit, that is, an ASIC), a field-programmable gate array (FPGA), or a circuit in which these are combined. It may be.

When the processing circuit 1102B is dedicated hardware, the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 are realized by operating the processing circuit 1102B. The functions of the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 may be realized by separate circuits or may be realized by a single circuit.

The functions of the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 are partially realized in the processing circuit 1102A that executes the program stored in the storage device 1103, and some of them are dedicated. It may be realized in the processing circuit 1102B which is the hardware of the above.

The information acquisition unit 5 is composed of various sensors or communication receivers.

As described above, the autonomous decentralized control device 3 according to the present embodiment can use the state amount of the moving body 1, the state amount of another moving body, or the surroundings of the moving body 1 as information for controlling the moving body 1. The group recognition unit 4 that determines whether or not to recognize the moving body 1 and other moving bodies as a group (moving body group) by using the information acquisition unit 5 for acquiring information and the information acquired by the information acquisition unit 5. And the integrated control unit 6 that controls the movement of the moving body 1 based on the group state that is the output of the group recognition unit 4, and the group state, the state amount of the moving body 1, the state amount of another moving body, or the movement. It is provided with a control rule change determination unit 7 for determining whether or not to change the control rule in the integrated control unit 6 based on the surrounding information of the body 1.

According to such a configuration, the information acquired by the information acquisition unit 5 is used to determine whether or not the moving body 1 and other moving bodies are recognized as a group (moving body group), depending on the situation. It is possible to control the movement of the moving body 1 by determining whether the control is performed as a group (moving body group) or individually.

Further, it is determined whether or not to change the control rule in the integrated control unit 6 based on the group state, the state amount of the moving body 1, the state amount of another moving body, or the surrounding information of the moving body 1. Therefore, the movement of the moving body 1 can be controlled by an appropriate control rule according to the situation.

Further, the group recognition unit 4 recognizes a pattern of a mobile group that can be realized by the mobile group based on whether or not the mobile body 1 can acquire the state amount of another mobile body, and further, it is feasible. When there are a plurality of patterns of a mobile group, they are based on a predetermined priority, a state amount of the moving body 1, a state amount of another moving body, or surrounding information of the moving body 1. One of the patterns is determined as a group state.

According to such a configuration, it is possible to determine whether or not the moving body 1 can control another moving body as a group (moving body group). Further, when there are a plurality of feasible patterns of the mobile group, the group is based on a predetermined priority, the state quantity of the mobile 1 and other mobiles, or the surrounding information of the mobile 1. By determining one state, the group state can be changed according to various purposes or situations, so that optimum group control can be executed.

Further, the integrated control unit 6 is an agreement control that calculates an operation amount of the moving body 1 so as to match an arbitrary state amount of the moving body 1 with a desired state designation amount, or a position of the moving body 1 and other movements. The control is performed based on the covering control, which calculates the target position in the boundary generated from the position of the body and calculates the operation amount of the moving body 1 based on the position of the moving body 1 and the target position.

According to such a configuration, control rules with different control purposes can be used properly, so that control can be performed according to various purposes or situations.

Further, the information acquisition unit 5 receives the state amount of the moving body 1 or the state amount of the moving body 1 by communication from the direct information acquisition unit 51 that acquires the surrounding information of the moving body 1 from another moving body. It is provided with an indirect information acquisition unit 52 that acquires the state amount of the moving body or the surrounding information of the moving body 1.

According to such a configuration, not only the information acquired by the moving body 1 but also the information possessed by the other moving body can be used, so that control can be performed based on a lot of information. Therefore, the control performance as a group (mobile group) can be further improved.

Further, in the covering control, the application area of the covering control is set based on the surrounding information of the moving body 1, and the weight function value (which defines the weight of a specific place) based on the applied area of the covering control is set. The position of the center of gravity in the boundary is calculated based on the application area of the covering control, the weight function value, and the boundary, and the position of the center of gravity is set as the target position in the boundary.

According to such a configuration, it is possible to realize a coating control that tries a desired formation based on a weighting function.

In the consensus control, a repulsive force is virtually generated between the moving body 1 and the other moving body according to the relative distance between the moving body 1 and the other moving body.

According to such a configuration, it is possible to avoid collisions between moving objects.

<Second Embodiment>
An autonomous distributed control device and an autonomous distributed control method according to the present embodiment will be described. In the following description, components similar to the components described in the above-described embodiment will be illustrated with the same reference numerals, and detailed description thereof will be omitted as appropriate. ..

<About the configuration of the autonomous distributed control device>
FIG. 11 is a diagram conceptually showing an example of the configuration of the information acquisition unit 5. As an example is shown in FIG. 11, the information acquisition unit 5 includes a direct information acquisition unit 51, an indirect information acquisition unit 52, and a communication mode switching unit 53.

When controlling a group (mobile group) based on information acquired via communication, it is essential to maintain a good communication state in order to ensure stable control performance.

However, when the control law or the state quantity of the moving body (eg, relative distance or velocity), the group state (eg, the number of moving bodies communicating), and the surrounding state (eg, the presence or absence of a shield) change, the communication Performance requirements also change. Therefore, it is desirable to use an appropriate communication mode that meets the requirements for communication performance.

For the above reasons, the communication mode switching unit 53 uses the state quantity of the moving body 1 and other moving bodies, the surrounding information of the moving body 1, the communication state between the moving bodies, the group state, or the control rule change signal. Based on this, the communication mode of the indirect information acquisition unit 52 is switched.

The communication status between mobiles refers to, for example, signal-to-noise ratio, error rate, received power, and the like. Here, when the signal-to-noise ratio is large, the error rate is small, or the received power is large, it can be said that the communication state is good. However, it is not limited to this when it can be said that the communication state is good. The specific method of switching the communication mode will be described later.

Here, the communication modes are, for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), Zigbee (registered trademark), long term evolution (LTE) (registered trademark), 5G, Wi-SUN, dedicated short range communications. (DSRC) or refers to a wireless communication standard such as 802.11p. Further, not only the wireless communication standard but also a communication protocol other than the physical layer such as TCP, UDP, IP, HTTP or MQTT may be used. However, the communication mode is not limited to these.

The communication mode switching unit 53 includes a first communication mode to an Nth communication mode (N is a natural number of 2 or more), and selects one of these communication modes to switch the communication mode.

For example, each communication mode is associated with the state quantities of the moving body 1 and other moving bodies, the surrounding information of the moving body 1, the communication state between the moving bodies, the group state, or the control rule change signal in advance. Switch to the applicable communication mode. Alternatively, when the communication state between the mobile bodies is poor, the communication mode may be switched to a communication mode different from the current communication mode in order, and the communication mode may be switched to the communication mode having the best communication state.

The communication mode can be switched, for example, in the following form.

Comparing the communication mode after control switching and the communication mode before control switching, if communication reliability is more important than communication frequency after control switching, the communication mode before control switching (first communication mode) To switch to communication (second communication mode) in a communication mode such as TCP / IP having an automatic retransmission request.

This makes it possible to improve communication reliability. Here, the determination of the importance of the communication frequency and the communication reliability may be determined in advance according to the control rule. For example, in the case of consensus control, even if communication with some mobiles temporarily fails, the graph can be configured and controlled using the information with the mobiles that have succeeded in communication. However, it may be judged that the communication frequency is important. Further, in the case of covering control, if communication fails and a graph in which a part is missing is constructed, the behavior may be different from the assumption. Therefore, it may be judged that communication reliability is more important than communication frequency.

On the other hand, comparing the communication mode after control switching and the communication mode before control switching, if the communication frequency is more important than the communication reliability after control switching, an automatic retransmission request is made from the communication mode before control switching. Switch to a communication mode such as UDP / IP that is not provided. Thereby, the communication frequency can be improved.

If it is a desirable control rule that there are many targets to be regarded as a group (mobile group) after control switching, it is desirable to increase the number of communication partners and increase the number of mobiles that can acquire the state quantity. This is also the case when the number of moving bodies regarded as a group (moving body group) is large in the group state. Therefore, by switching to communication in a communication mode that does not limit the communication partner by broadcasting, information can be transmitted to many partners at once.

On the other hand, if it is a control rule that does not cause a problem even if there are few objects to be regarded as a group (mobile group), or if there are few objects to be regarded as a group (mobile group) in the group state, unicast or multicast is used. Switch to communication in a communication mode that limits the communication partner. As a result, the spatial communication utilization rate or the information processing efficiency on the receiving side can be improved.

In addition, when the control cycle is changed due to the switching of the control method and the control cycle is long, the communication mode from the communication mode before the control switching is changed to the communication mode via the access point such as the Wi-Fi infrastructure mode. Switch to communication with. As a result, communication collisions can be efficiently avoided.

Here, the judgment as to whether or not the control cycle is long may be made by judging that there are few communication partners when the control cycle is shorter than the preset threshold value.

On the other hand, if the control cycle is short, the communication mode before switching the control is switched to the communication mode in which the communication directly communicates with each other without going through the access point, such as the ad hoc mode of Wi-Fi. As a result, the communication delay can be shortened.

In addition, when a mobile body (monitoring device) having a function of monitoring the state quantity of a nearby moving body exists in the vicinity of the moving body 1, the communication is switched to the communication mode via the monitoring device as an access point. You may. As a result, the monitoring device, which is an access point, can collect information.

Further, comparing the communication mode after the control switching and the communication mode before the control switching, the communication with the moving body having a short distance is relatively important and the communication with the moving body having a long distance is relatively important after the control switching. If not, the communication mode before the control switching is switched to the communication mode in which the state quantities of each other are directly exchanged.

As a result, in communication with a mobile body with a long distance, the communication power is relatively small, so the probability of success in communication is low, but in communication with a mobile body with a short distance, the communication power is relatively large, so communication is performed. The success rate of Therefore, information corresponding to the priority of control can be exchanged.

Here, the importance can be judged by determining a threshold value in advance for the distance. For example, if the distance exceeds the threshold, it may be determined that it is not important.

Also, comparing the communication mode after control switching and the communication mode before control switching, if communication with a moving object that is far away after control switching is also important, data is relayed from the communication mode before control switching. Switch to communication in a communication mode that includes a multi-hop communication function that relays and conveys to the other party. As a result, highly reliable communication can be performed with a moving object at a long distance.

Here, the correspondence between the control rule and the communication mode in switching is not limited to the above case.

As described above, the communication mode switching unit 53 uses the state amount of the moving body 1, the state amount of another moving body, the surrounding information of the moving body 1, the communication state between the moving bodies, the group state, or the control rule change signal. Switch the communication mode based on.

According to such a configuration, it is possible to switch to the optimum communication mode in group control, so that the reliability of communication can be improved and the stability of control can be improved.

<Third embodiment>
An autonomous distributed control device and an autonomous distributed control method according to the present embodiment will be described. In the following description, components similar to the components described in the above-described embodiment will be illustrated with the same reference numerals, and detailed description thereof will be omitted as appropriate. ..

<About the configuration of the autonomous distributed control device>
FIG. 15 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53A. As an example is shown in FIG. 15, the communication mode switching unit 53A includes a communication performance requesting unit 531 and a communication mode selecting unit 532.

The communication performance requesting unit 531 communicates based on the state amount of the moving body 1, the state amount of another moving body, the surrounding information of the moving body 1, the communication state between the moving bodies, the group state, or the control rule change signal. Calculate the performance requirement.

Communication performance required values include, but are not limited to, communication frequency, communication distance, number of communication connections, error rate, or communication delay. In addition, the communication performance of each communication mode shall be estimated in advance based on the measured value or the design value.

The communication mode selection unit 532 includes a first communication mode to an Nth communication mode (N is a natural number of 2 or more), and selects one of these communication modes based on the communication performance required value to select a communication mode. To switch.

For example, switch from the communication mode that meets the communication performance requirement value to the communication mode with the highest communication performance. Alternatively, when the communication state between the mobile bodies is poor, the communication mode may be switched to a communication mode different from the current communication mode in order, and it may be determined whether or not the communication performance required value is satisfied.

The communication performance requirement unit 531 determines the communication performance requirement value (communication frequency) according to the control frequency of the control rule. From each communication mode, one of the communication modes satisfying the condition of "maximum control frequency ≤ communication performance required value (communication frequency)" is selected.

The communication performance request unit 531 determines the value of the longest distance as the communication performance request value (communication distance) from the group state and the state quantities of the moving body 1 and other moving bodies (distance between the moving bodies).

Further, the communication performance requesting unit 531 estimates the maximum communication distance in advance for each communication mode. From each communication mode, one of the communication modes satisfying the condition of "maximum communication distance ≥ communication performance required value (communication distance)" is selected.

The communication performance request unit 531 determines the number of mobiles that need to communicate as the communication performance requirement value (number of communication connections) from the group state. Further, the communication performance requesting unit 531 estimates the maximum number of communication connections in advance for each communication mode. From each communication mode, select one of the communication modes that satisfy the condition of "maximum number of communication connections ≥ communication performance required value (number of communication connections)".

The communication performance requirement unit 531 determines the communication performance requirement value (error rate) that can achieve stable control. In addition, the communication performance requesting unit 531 estimates in advance the maximum allowable error rate at which stable control can be achieved in each control rule. In addition, in each communication mode, the assumed error rate under the assumed conditions is estimated. From each communication mode, one of the communication modes satisfying the condition of "maximum allowable error rate ≥ communication performance required value (error rate)" is selected.

The communication performance requirement unit 531 determines the communication performance requirement value (communication delay) that can achieve stable control. The communication performance requesting unit 531 estimates in advance the maximum communication delay that can achieve stable control in each control rule. For example, the communication delay may be one in which the margin is subtracted from the control cycle. Further, the communication performance requesting unit 531 estimates the communication delay under the conditions assumed in advance in each communication mode. From each communication mode, one of the communication modes satisfying the condition of "maximum communication delay ≥ communication performance required value (communication delay)" is selected.

Further, the above communication performance requirement value may be calculated by multiplying by a coefficient according to the control law. For example, consensus control often has a longer communication distance between mobiles than cover control. Therefore, in order to give a margin to the communication distance as the communication performance required value, the value of the communication performance required value (communication distance) is doubled in the case of consensus control. As a result, the communication performance requirement value that each control law emphasizes can be set, so that the optimum communication mode according to the control law can be determined.

As described above, the reliability of communication can be further improved by selecting the communication mode so as to satisfy the communication performance requirement according to the control rule or the state of the controlled object.

<Fourth Embodiment>
An autonomous distributed control device and an autonomous distributed control method according to the present embodiment will be described. In the following description, components similar to the components described in the above-described embodiment will be illustrated with the same reference numerals, and detailed description thereof will be omitted as appropriate. ..

<About the configuration of the autonomous distributed control device>
FIG. 16 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53B. As an example is shown in FIG. 16, the communication mode switching unit 53B includes a communication performance requesting unit 531, a communication mode selecting unit 532, and a communication parameter search unit 533.

The communication parameter search unit 533 continuously changes a predetermined communication parameter to search for a communication parameter that satisfies the communication performance required value. Here, the communication parameters include transmission power, number of retransmissions, timeout time, Quality of Service (Quality of Service), and the like. However, the communication parameters are not limited to these.

Then, the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value based on the communication parameters.

As described above, communication parameters that satisfy the communication performance requirements can be set, so communication reliability is improved. Further, by improving the reliability of communication, stable control performance can be ensured.

<Fifth Embodiment>
An autonomous distributed control device and an autonomous distributed control method according to the present embodiment will be described. In the following description, components similar to the components described in the above-described embodiment will be illustrated with the same reference numerals, and detailed description thereof will be omitted as appropriate. ..

<About the configuration of the autonomous distributed control device>
FIG. 17 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53C. As an example is shown in FIG. 17, the communication mode switching unit 53C includes a communication performance requesting unit 531, a communication mode selection unit 532, a communication parameter search unit 533, and a communication performance comparison unit 534 in the communication mode selection unit 532. To be equipped.

When switching control rules, in order to select the optimum communication mode, the communication performance is compared by actually performing communication in multiple communication modes, and after confirming whether or not the requirements for communication are satisfied, communication is performed. It is desirable to switch modes and control rules.

Therefore, the communication performance comparison unit 534 switches the communication mode by simultaneously operating a plurality of communication modes to communicate when determining a change in the control rule, and further comparing the communication performance in each communication mode. Judge whether or not to do.

Then, the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value based on the comparison result in the communication performance comparison unit 534.

As described above, when switching the control law, the communication performance can be compared accurately by actually operating each communication mode and comparing the communication performance, and further, the optimum communication mode is selected. be able to. In addition, the reliability of communication is improved by this, and stable control performance can be ensured.

<Sixth Embodiment>
An autonomous distributed control device and an autonomous distributed control method according to the present embodiment will be described. In the following description, components similar to the components described in the above-described embodiment will be illustrated with the same reference numerals, and detailed description thereof will be omitted as appropriate. ..

<About the configuration of the autonomous distributed control device>
FIG. 18 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53D. As an example is shown in FIG. 18, the communication mode switching unit 53D includes a communication performance requesting unit 531, a communication mode selection unit 532, a communication parameter search unit 533, and a communication performance comparison unit 534 in the communication mode selection unit 532. A communication performance estimation unit 535 in the communication mode selection unit 532 is provided.

When switching communication modes, compare the performance of each communication mode. When comparing communication modes, if performance is acquired after actual communication, processing may take time and delays may occur in control and communication mode switching.

Therefore, it is desirable to estimate the performance in each communication mode and switch to the best communication mode before switching the control and communication modes.

When determining the change of the control rule, the communication performance estimation unit 535 estimates the communication performance of a communication mode different from the current communication mode, and determines whether or not to switch the communication mode. Here, for the communication performance of the second communication mode, the relationship between the communication performance and the request for communication based on the surrounding information, the state quantity of the moving body, or the control rule is acquired in advance by simulation or measurement, and further. , Corresponding relational expression or table, etc. can be prepared for estimation.

Then, the communication performance comparison unit 534 compares the communication performance in each communication mode based on the estimation result in the communication performance estimation unit 535.

For example, communication performance such as communication error rate can be estimated from the number of mobiles that communicate. In addition, communication performance such as a communication error rate can be estimated from the distance to an adjacent mobile body. The estimation method is not limited to these.

In this way, when switching the control law, the optimum communication mode can be selected in a short time by estimating the communication performance according to the control law or the state of the controlled object. In addition, the reliability of communication is improved by this, and stable control performance can be ensured.

<7th Embodiment>
An autonomous distributed control device and an autonomous distributed control method according to the present embodiment will be described. In the following description, components similar to the components described in the above-described embodiment will be illustrated with the same reference numerals, and detailed description thereof will be omitted as appropriate. ..

<About the configuration of the autonomous distributed control device>
FIG. 19 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53E. As an example is shown in FIG. 19, the communication mode switching unit 53E includes a communication performance requesting unit 531, a communication mode selection unit 532, a communication parameter search unit 533, and a communication performance comparison unit 534 in the communication mode selection unit 532. A communication performance estimation unit 535 in the communication mode selection unit 532 and a control parameter adjustment unit 536 to which an output from the communication performance comparison unit 534 is input are provided.

When switching between the control rule and the communication mode, it may not be possible to achieve sufficient communication performance in any communication mode in response to the request from the control rule. If sufficient communication performance cannot be achieved, the amount of state required for control cannot be appropriately obtained, and there is a concern that the control performance may deteriorate.

Therefore, if the communication performance is not sufficient, it is desirable to improve the control performance by changing the control parameters.

Here, the control parameter is, for example, a control cycle or a feedback gain. However, the control parameters are not limited to these.

When the communication delay is large in the communication mode after switching, the control parameter adjusting unit 536 can improve the control performance by lengthening the control cycle in the integrated control unit 6 or reducing the feedback gain. Further, the control parameter adjusting unit 536 can improve the stability by reducing the feedback gain when the communication packet loss is large.

In this way, when switching control rules, stable control performance can be ensured by changing the control parameters according to the communication performance.

<About the effect caused by the above-described embodiment>
Next, an example of the effect produced by the above-described embodiment will be shown. In the following description, the effect is described based on the specific configuration shown in the embodiment described above, but to the extent that the same effect occurs, the examples in the present specification. May be replaced with other specific configurations indicated by.

Further, the replacement may be made across a plurality of embodiments. That is, it may be the case that the respective configurations shown in the examples in different embodiments are combined to produce the same effect.

According to the embodiment described above, the control device is a control device provided in the first mobile body, and is an information acquisition unit 5, a group recognition unit 4, a control unit, and a control rule change determination unit. 7 and. Here, the first moving body corresponds to, for example, the moving body 1. Further, the control unit corresponds to, for example, the integrated control unit 6. The information acquisition unit 5 acquires the state amount of the moving body 1, the state amount of at least one second moving body which is a moving body different from the moving body 1, and the surrounding information of the moving body 1. Here, the second moving body corresponds to, for example, the moving body 2. The group recognition unit 4 uses at least the state amount of the moving body 2 among the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1 acquired by the information acquisition unit 5. , It is determined whether or not the moving body 1 and the moving body 2 are recognized as a moving body group. Further, the group recognition unit 4 outputs the determination result as a group state. The integrated control unit 6 controls the movement of the moving body 1 by using a control rule selected from a plurality of control rules based on the group state. Whether or not the control rule change determination unit 7 changes the control rule used in the integrated control unit 6 based on at least one of the group state, the state quantity of the moving body 2, and the surrounding information of the moving body 1. To judge. Further, the control rule change determination unit 7 outputs the determination result as a control rule change signal. The integrated control unit 6 selects a control rule to be used when controlling the movement of the moving body 1 based on the control rule change signal.

Further, according to the embodiment described above, the control device includes a processing circuit 1102A for executing a program and a storage device 1103 for storing the program to be executed. Then, when the processing circuit 1102A executes the program, the following operations are realized.

That is, the state amount of the moving body 1, the state amount of at least one moving body 2 which is a moving body different from the moving body 1, and the surrounding information of the moving body 1 are acquired. Then, the moving body 1 and the moving body 2 are moved by using at least the state amount of the moving body 2 among the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. Whether or not to recognize it as a group is determined, and the determination result is output as a group state. Then, based on the group state, the movement of the moving body 1 is controlled by using a control rule selected from a plurality of control rules. Here, it is determined whether or not to change the control rule based on at least one of the group state, the state quantity of the moving body 2, and the surrounding information of the moving body 1, and the judgment result is the control rule. It is output as a change signal. Then, the control rule used when controlling the movement of the moving body 1 is selected based on the control rule change signal.

Further, according to the embodiment described above, the control device includes a processing circuit 1102B which is dedicated hardware. Then, the processing circuit 1102B, which is dedicated hardware, performs the following operations.

That is, the state amount of the moving body 1, the state amount of at least one moving body 2 which is a moving body different from the moving body 1, and the surrounding information of the moving body 1 are acquired. Then, the moving body 1 and the moving body 2 are moved by using at least the state amount of the moving body 2 among the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. It is determined whether or not it is recognized as a group, and the determination result is output as a group state. Then, based on the group state, the movement of the moving body 1 is controlled by using a control rule selected from a plurality of control rules. Here, it is determined whether or not to change the control rule based on at least one of the group state, the state quantity of the moving body 2, and the surrounding information of the moving body 1, and the judgment result is the control rule. Output as a change signal. Then, based on the control rule change signal, the control rule used when controlling the movement of the moving body 1 is selected.

According to such a configuration, the information acquired by the information acquisition unit 5 is used to determine whether or not the moving body 1 and other moving bodies are recognized as a group (moving body group), depending on the situation. It is possible to control the movement of the moving body 1 by determining whether the control is performed as a group (moving body group) or individually. Further, it is determined whether or not to change the control rule in the integrated control unit 6 based on the group state, the state amount of the moving body 1, the state amount of the moving body 2, or the surrounding information of the moving body 1. Therefore, the movement of the moving body 1 can be controlled by an appropriate control rule according to the situation.

In addition, when other configurations shown in the present specification are appropriately added to the above configurations, that is, when other configurations in the present specification which are not mentioned as the above configurations are appropriately added. Even if there is, the same effect can be produced.

Further, according to the embodiment described above, the group recognition unit 4 is a feasible mobile body based on whether or not the information acquisition unit 5 has acquired the state quantity of at least one mobile body 2. When the pattern of the group is recognized and there are a plurality of feasible patterns of the moving body group, among the predetermined priority, the state amount of the moving body 2, and the surrounding information of the moving body 1. Based on at least one, one of the feasible mobile group patterns is output as a group state. According to such a configuration, when there are a plurality of feasible mobile group patterns, the optimum group state can be set from among them. Therefore, the control performance as a group (mobile group) can be improved.

Further, according to the embodiment described above, when the integrated control unit 6 is a determination result indicating that the group state recognizes the moving body 1 and the moving body 2 as the moving body group, the agreement control or The movement of the moving body 1 is controlled by using the coating control. According to such a configuration, it is possible to carry out control suitable for various purposes or situations by properly using two different types of control rules (agreement control and cover control) among the control rules suitable for group control. it can.

Further, according to the embodiment described above, the consensus control is a virtual repulsive force between the moving body 1 and the moving body 2 according to the relative distance between the moving body 1 and the moving body 2. Is the control that causes. According to such a configuration, it is possible to avoid a collision between moving bodies by generating a repulsive force by consensus control.

Further, according to the embodiment described above, in the coating control, the application area of the coating control is set based on the surrounding information of the moving body 1, and the weight of a specific place in the application area of the coating control is defined. A boundary is set based on the weight function value to be applied, the weight function value, and the boundary that divides the area of the moving body 1 and the area of the moving body 2 within the application area of the covering control. It is a control that calculates the position of the center of gravity inside and sets the position of the center of gravity as the target position within the boundary. According to such a configuration, it is possible to realize a coating control that tries a desired formation based on a weighting function.

Further, according to the embodiment described above, the information acquisition unit 5 communicates with the mobile body 2, the state amount of the moving body 1, the state amount of the moving body 2, and the moving body 1. Acquire at least one of the surrounding information. According to such a configuration, the indirect information acquisition unit 52 can indirectly acquire information that cannot be acquired only by the direct information acquisition unit 51. Further, by communicating by a communication method suitable for the situation, for example, it is possible to acquire information on a long-distance moving object that is outside the detection range of the sensor.

Further, according to the embodiment described above, the information acquisition unit 5 is added to at least one of the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. The communication mode between the mobile body 1 and the mobile body 2 is switched based on at least one of the communication state, the group state, and the control rule change signal between the mobile body 1 and the mobile body 2. A communication mode switching unit 53 is provided. According to such a configuration, it is possible to switch the optimum communication mode in the group control. As a result, the reliability of communication is improved and the stability of control is improved.

Further, according to the embodiment described above, the communication mode switching unit 53A includes a communication performance requesting unit 531 and a communication mode selecting unit 532. The communication performance requesting unit 531 changes the state amount of the moving body 1, the state amount of the moving body 2, the surrounding information of the moving body 1, the communication state between the moving body 1 and the moving body 2, the group state, and the control rule. The communication performance requirement value is calculated based on at least one of the signals. The communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value from the plurality of communication modes. According to such a configuration, when switching the control law, the communication mode can be selected so as to satisfy the communication performance requirement according to the control law and the state of the controlled object. As a result, the reliability of communication is improved and the stability of control is improved.

Further, according to the embodiment described above, the communication mode switching unit 53B includes a communication parameter search unit 533. The communication parameter search unit 533 searches for a communication parameter that satisfies the communication performance requirement value by continuously changing the communication parameter. Then, the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value based on the communication parameters. According to such a configuration, when switching the control law, it is possible to set the communication parameter according to the control law and the state of the controlled object. As a result, the reliability of communication is improved and the stability of control is improved.

Further, according to the embodiment described above, the communication mode switching unit 53C includes a communication performance comparison unit 534. The communication performance comparison unit 534 operates a plurality of communication modes to communicate, and further compares the communication performance in each communication mode. Then, the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value based on the comparison result in the communication performance comparison unit 534. According to such a configuration, when switching the control law, it is possible to make an accurate comparison by actually comparing the communication performance, and it is possible to select the optimum communication mode. As a result, the reliability of communication is improved and the stability of control is improved.

Further, according to the embodiment described above, the communication mode switching unit 53D includes a communication performance estimation unit 535. The communication performance estimation unit 535 estimates the communication performance of the communication mode. Then, the communication performance comparison unit 534 compares the communication performance in each communication mode based on the estimation result in the communication performance estimation unit 535. According to such a configuration, the optimum communication mode can be selected in a short time by estimating the communication performance according to the control law or the state of the controlled object. As a result, the reliability of communication is improved and the stability of control is improved.

Further, according to the embodiment described above, the communication mode switching unit 53D includes a control parameter adjusting unit 536. The control parameter adjusting unit 536 adjusts the control parameters in the integrated control unit 6. According to such a configuration, the stability of control is improved by changing the control parameters according to the communication performance.

According to the embodiment described above, in the control method, the state amount of the moving body 1, the state amount of at least one moving body 2 which is a moving body different from the moving body 1, and the surroundings of the moving body 1. Get at least one of the information. Then, whether the moving body 1 and the moving body 2 are recognized as a moving body group by using at least one of the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. It is determined whether or not it is present, and the determination result is output as a group state. Then, based on the group state, the movement of the moving body 1 is controlled by using a control rule selected from a plurality of control rules. Here, it is determined whether or not to change the control rule based on at least one of the group state, the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. Moreover, the judgment result is output as a control rule change signal. Then, based on the control rule change signal, the control rule used when controlling the movement of the moving body 1 is selected.

If there are no special restrictions, the order in which each process is performed can be changed.

<About the modified example of the embodiment described above>
In the embodiments described above, the materials, materials, dimensions, shapes, relative arrangement relationships, conditions of implementation, etc. of each component may also be described, but these are one example in all aspects. However, it is not limited to those described in the present specification.

Therefore, innumerable variants and equivalents for which examples are not shown are envisioned within the scope of the technology disclosed herein. For example, when transforming, adding or omitting at least one component, or when extracting at least one component in at least one embodiment and combining it with a component in another embodiment. Shall be included.

Further, as long as there is no contradiction, the components described as being provided with "one" in the above-described embodiment may be provided with "one or more".

Further, each component in the above-described embodiment is a conceptual unit, and within the scope of the technique disclosed in the present specification, one component is composed of a plurality of structures. And the case where one component corresponds to a part of a structure, and further, the case where a plurality of components are provided in one structure.

Further, each component in the above-described embodiment shall include a structure having another structure or shape as long as it exhibits the same function.

In addition, the description in the present specification is referred to for all purposes related to the present technology, and none of them is recognized as a prior art.

In addition, each component described in the above-described embodiment is assumed to be software or firmware and corresponding hardware, and in both concepts, each component is a "part". Alternatively, it is referred to as a "processing circuit" or the like.

1,2,2A, 2B, 2C, 2D mobile body, 3 autonomous distributed control device, 4 group recognition unit, 5 information acquisition unit, 6 integrated control unit, 7 control rule change judgment unit, 51 direct information acquisition unit, 52 indirect Information acquisition unit, 53, 53A, 53B, 53C, 53D, 53E Communication mode switching unit, 61 Consensus control unit, 62 Covering control unit, 63 Motion control unit, 100 boundary, 513 Communication performance request unit, 532 Communication mode selection unit, 533 Communication parameter search unit, 534 Communication performance comparison unit, 535 Communication performance estimation unit, 536 Control parameter adjustment unit, 1102A, 1102B processing circuit, 1103 storage device.

Claims

It is a control device provided in the first moving body, and is
To acquire the state amount of the first moving body, the state amount of at least one second moving body which is a moving body different from the first moving body, and the surrounding information of the first moving body. Information acquisition department and
At least the second moving body of the state amount of the first moving body, the state amount of the second moving body, and the surrounding information of the first moving body acquired by the information acquisition unit. A group recognition unit for determining whether or not to recognize the first moving body and the second moving body as a moving body group and outputting the determination result as a group state using the state amount of When,
A control unit for controlling the movement of the first moving body by using a control law selected from a plurality of control rules based on the group state.
Whether or not to change the control rule used in the control unit based on at least one of the group state, the state quantity of the second moving body, and the surrounding information of the first moving body. It is equipped with a control rule change judgment unit for judging and outputting the judgment result as a control rule change signal.
The control unit selects the control rule to be used when controlling the movement of the first moving body based on the control rule change signal.
Control device.
The control device according to claim 1.
The group recognition unit recognizes and realizes a feasible pattern of the mobile body group based on whether or not the information acquisition unit has acquired at least one state quantity of the second mobile body. When there are a plurality of possible patterns of the moving body group, at least one of a predetermined priority, a state quantity of the second moving body, and surrounding information of the first moving body. One of the feasible patterns of the mobile group is output as the group state based on the above.
Control device.
The control device according to claim 1 or 2.
When the group state is the determination result indicating that the first moving body and the second moving body are recognized as the moving body group, the control unit uses the consensus control or the covering control. Control the movement of the first moving body,
Control device.
The control device according to claim 3.
The consensus control creates a virtual repulsive force between the first moving body and the second moving body according to the relative distance between the first moving body and the second moving body. Control to generate,
Control device.
The control device according to claim 3 or 4.
The coating control sets an application area of the coating control based on the surrounding information of the first moving body, sets a weight function value that defines a weight of a specific place in the application area of the coating control, and further. Based on the application region of the covering control, the weighting function value, and the boundary that divides the region of the first moving body and the region of the second moving body within the application region of the covering control. It is a control that calculates the position of the center of gravity within the boundary and sets the position of the center of gravity as the target position within the boundary.
Control device.
The control device according to any one of claims 1 to 5.
The information acquisition unit communicates with the second mobile body to obtain information on the state amount of the first mobile body, the state amount of the second mobile body, and the surrounding information of the first mobile body. Get at least one of
Control device.
The control device according to any one of claims 1 to 6.
In addition to at least one of the state amount of the first moving body, the state amount of the second moving body, and the surrounding information of the first moving body, the information acquisition unit is the first. Based on at least one of the communication state between the moving body and the second moving body, the group state, and the control rule change signal, the first moving body and the second moving body A communication mode switching unit for switching the communication mode between
Control device.
The control device according to claim 7.
The communication mode switching unit is
The state amount of the first moving body, the state amount of the second moving body, the surrounding information of the first moving body, the communication state between the first moving body and the second moving body, A communication performance requesting unit for calculating a communication performance required value based on the group state and at least one of the control rule change signals.
A communication mode selection unit for selecting the communication mode that satisfies the communication performance required value from the plurality of communication modes is provided.
Control device.
The control device according to claim 8.
The communication mode switching unit further includes a communication parameter search unit for searching for the communication parameter that satisfies the communication performance requirement value by continuously changing the communication parameter.
The communication mode selection unit selects the communication mode that satisfies the communication performance requirement value based on the communication parameter.
Control device.
The control device according to claim 8 or 9.
The communication mode switching unit further includes a communication performance comparison unit for operating a plurality of the communication modes to communicate and further comparing the communication performance in each of the communication modes.
The communication mode selection unit selects the communication mode that satisfies the communication performance requirement value based on the comparison result in the communication performance comparison unit.
Control device.
The control device according to claim 10.
The communication mode switching unit further includes a communication performance estimation unit for estimating the communication performance of the communication mode.
The communication performance comparison unit compares the communication performance in each of the communication modes based on the estimation result in the communication performance estimation unit.
Control device.
The control device according to any one of claims 7 to 11.
The communication mode switching unit further includes a control parameter adjusting unit for adjusting the control parameters in the control unit.
Control device.
The state amount of the first moving body, the state amount of at least one second moving body which is a moving body different from the first moving body, and the surrounding information of the first moving body are acquired.
The state amount of the first moving body, the state amount of the second moving body, and the state amount of the second moving body among the surrounding information of the first moving body are used. It is determined whether or not the first moving body and the second moving body are recognized as a moving body group, and the determination result is output as a group state.
Based on the group state, the movement of the first moving body is controlled by using a control law selected from a plurality of control rules.
Based on at least one of the group state, the state quantity of the second moving body, and the surrounding information of the first moving body, it is determined whether or not to change the control law, and The judgment result is output as a control rule change signal,
Based on the control law change signal, the control law to be used when controlling the movement of the first moving body is selected.
Control method.