JP2003330542A - Movement control method of omnidirectional moving vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a movement control method of an omnidirectional moving vehicle, in which the omnidirectional moving vehicle moving with combining rotation and movement to an prescribed direction can conduct movement approximate to an ideal translational rotation movement. <P>SOLUTION: The omnidirectional moving vehicle includes an omnidirectional wheel, and can move to a prescribed direction while rotating the vehicle by controlling rotation speed of the omnidirectional wheel. In this case, all moving zone is divided to a plurality of small zones (step S3), the number of which is decided from angle of the rotation of the vehicle, the moving speed of the vehicle is calculated for each small zone (step S9), the rotation speed of the omnidirectional wheel is calculated from the moving speed of the vehicle found by the calculation (step S11), and a servo motor is controlled so that the rotation speed of the omnidirectional wheel accords with a value found by the calculation (step S13). Thus, this vehicle can move with always recognizing an object, which is in a direction of a camera and a certain angle, within the view of the camera because it can conduct an approximate translational rotation movement which is less different from the ideal translational rotation movement in all the moving zones. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movement control method for an omnidirectional vehicle, and more particularly to a movement control method for an omnidirectional vehicle using wheels such as omni wheels that do not require steering.

[0002]

2. Description of the Related Art Conventionally, an omnidirectional vehicle that can move in any direction has been developed in order to allow a mobile vehicle to move with a high degree of freedom.
-305440, JP-A-2000-357048, JP-A-2001-97221, etc.). When a camera with a fixed orientation is mounted on such an omnidirectional vehicle and the omnidirectional vehicle is moved linearly, an object existing in a direction that forms an angle with the direction of the camera is always viewed by the camera. There was a problem that I could not move while being caught inside.

Such a problem is as shown in FIG.
This does not occur if the omnidirectional vehicle 2 can perform an ideal translational rotation movement in which it moves in a predetermined direction while rotating from the movement start point to the movement end point.

However, in reality, even if the omnidirectional vehicle 2 is to be translated and rotated, the vehicle will turn as shown in FIG. This is because it is necessary to continuously change the rotation speed of the wheels in order to make the omnidirectional vehicle 2 perform an ideal translational rotation movement. However, the rotation speed of the wheels needs to be changed by using a commonly used control device. This is because it is difficult to change continuously, and the rotation speed of the wheels is changed every predetermined time.

Therefore, when the omnidirectional vehicle 2 is rotated in a predetermined direction while rotating, the combination of movement in the predetermined direction and rotation on the spot is used. That is, either one of movement in a predetermined direction and rotation on the spot, such as not rotating when moving in a predetermined direction and not moving in a predetermined direction when rotating I was moving only to do so.

[0006]

However, the above-described movement control method for an omnidirectional vehicle has the following problems. That is, when a vehicle equipped with a camera fixed to the vehicle moves, there is a problem that an object existing in a direction forming an angle with the direction of the camera cannot always be moved while being caught in the field of view of the camera. .

Therefore, a main object of the present invention is to provide an omnidirectional vehicle capable of moving an omnidirectional vehicle that moves while combining rotation and movement in a predetermined direction close to an ideal translational rotational movement. It is to provide a movement control method.

[0008]

SUMMARY OF THE INVENTION The present invention is a movement control method for an omnidirectional vehicle that moves in a predetermined direction while rotating, in which the entire traveling section is controlled by the rotation angle of the entire traveling section of the omnidirectional vehicle. Dividing into a fixed number of small sections, and determining a first rotation speed of a wheel of the omnidirectional vehicle based on the rotation angle of each small section,
Controlling the rotation speed of the wheel to become the first rotation speed for each small section.

[0009]

According to the present invention, when an omnidirectional vehicle moves in a predetermined direction while rotating, a plurality of omnidirectional vehicles determined by the rotation angle of the omnidirectional vehicle from the start of movement to the end of movement in the entire movement section. It is divided into small sections. And
The rotation speed of the wheel in each small section is calculated based on the rotation angle of each small section, and the turning motion can be controlled by controlling the rotation speed of the wheel to be the calculated value.

Since the rotation angle of the entire moving section is divided into a plurality of small sections for each predetermined angle, the rotation speed of each small section can be calculated easily.

This predetermined angle is preferably an angle in the range of more than 0 ° and not more than 5 °. By dividing the entire movement section into a plurality of small sections at an angle within this range, it is possible to move without greatly deviating from the ideal movement path of the translational rotation movement.

Since the rotational speed of the wheel in the small section is obtained based on the distance information of the entire moving section, the rotation angle of the omnidirectional vehicle in the entire moving section, and the vehicle moving speed of the omnidirectional vehicle obtained from the moving time, The rotation speed of the wheel in each small section can be easily obtained.

The determination as to whether or not the control of the wheel rotation speed in the predetermined small section is completed is made by comparing the time required from the start of the movement to the end of the movement of the predetermined small section with the time calculated. Since it is performed by doing, it is possible to easily determine whether or not the movement is completed.

Whether or not the control of the rotation speed of the wheel in the predetermined small section is completed is determined by the measurement result and calculation of the wheel rotation angle from the start of the movement to the end of the movement in the predetermined small section. The rotation angle is compared with the rotation angle. Therefore, even if the rotational speed of the wheels deviates from the calculated value due to the condition of the road surface, it is possible to more accurately determine whether or not the movement has ended.

When a surplus section is generated when the whole traveling section is divided into small sections, distance information of the surplus section, rotation angle and traveling time of the omnidirectional vehicle in the surplus section are set, and the information is set. Based on the above, the rotation speed in the surplus section is calculated, and control is performed so that the rotation speed of the wheels becomes the calculated value. As a result, even in the surplus section, it is possible to move the omnidirectional vehicle without significantly deviating from the movement route that the vehicle travels when it makes an ideal translational rotation movement.

[0016]

According to the present invention, the entire moving section is divided into a plurality of small sections each having a small rotation angle, and the turning movement is performed for each small section. It is possible to move without significantly deviating from the movement route that is taken when performing.

The above-mentioned objects, other objects, features and advantages of the present invention will become more apparent from the detailed description of the following embodiments made with reference to the drawings.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An omnidirectional vehicle (hereinafter sometimes simply referred to as "vehicle") 10 of this embodiment shown in FIG. 1 includes a disk-shaped carriage 12, and an underside of the carriage 12 is an omniwheel. The wheels 14 are provided so that the omnidirectional vehicle 10 can be moved in any of the front, rear, left and right directions. A vehicle body 16 having a cylindrical shape is provided on the upper surface of the carriage 12. The vehicle body 16 includes an operation unit 1 for inputting a command such as a moving direction to the omnidirectional vehicle 10 from outside.
8 and a manipulator 20 capable of gripping and manipulating objects.

Further, the camera 22 is used to capture landmarks indicating the moving direction of the omnidirectional vehicle 10, the moving end point, etc., and to measure the distance to the target.
However, the direction is fixed and attached to the vehicle body 16. Two cameras 22 are mounted so that stereo distance measurement can be performed.

Next, the omni-wheel used in this embodiment and the omnidirectional vehicle 10 using the omni-wheel as the wheels 14 will be described.
Will be described. An omni-wheel is a special wheel that has multiple free rollers on the outer circumference of the wheel, and reliably transmits propulsive force in the circumferential direction on the ground contact surface, and friction that does not transmit force in the vertical direction, that is, the rotational axis direction. It is a wheel close to zero.

As shown in FIG. 2, the wheel 14 is a combination of two omni-wheels 24.
Are arranged such that the three free rollers 26 are arranged at equal distances from each other along the outer circumference thereof.
The length of 6 is about 1/3 of the circumference of the omni foil 24.

The wheel 14 is a combination of the rotary shafts 28 of the respective omni wheels 24, and is arranged so that the free roller 26 of one omni wheel 24 and the free roller 26 of the other omni wheel 24 do not overlap. There is. That is, when used as a wheel, the free roller 26 of any one of the omni wheels 24 is arranged so as to always come into contact with the road surface.

In this embodiment, an omniwheel having free rollers arranged on its outer circumference without any gap can be used, but in that case, it is used alone as a wheel. Further, as another wheel to which this embodiment is applied, there is a mecanum wheel in which a free roller is attached at an angle with the outer circumference.

As shown in FIG. 3, three wheels 14 are attached to the bogie 12 of the omnidirectional vehicle 10 so as to form an equilateral triangle along the outer periphery thereof.

As shown in FIG. 4, the movement control device 30 for the omnidirectional vehicle 10 includes a computer 32 that controls the movement of the omnidirectional vehicle 10. The computer 32 includes an operation unit 18 and a motor driver. 34 is connected. Further, the motor driver 34 sends a drive signal to the servo motor 36, and the servo motor 36 rotationally drives the wheels 14. An encoder 38 is connected to the wheels 14, and the output of the encoder 38 is the computer 3
Feedback to 2.

The operation unit 18 inputs a movement command from the outside to the computer 30. The computer 32 is the operation unit 1
The rotation speed of each wheel 14 of the omnidirectional vehicle 10 is calculated based on the data input from 8 and the movement target based on the work plan stored inside the vehicle, and the rotation speed is instructed to the motor driver 34. Then, the motor driver 34 controls the servo motor 36 so that the rotation speed of the wheels 14 becomes the rotation speed calculated by the computer 32. Further, since the encoder 38 measures the rotation speed of the wheel 14 and feeds it back to the computer 32,
The computer 32 can judge whether the control of the rotation speed of the wheels 14 is appropriate or not, and can give a correction command value to the motor driver 34 if it is inappropriate.

The movement control method of the omnidirectional vehicle 10 will be described in detail with reference to the flow chart shown in FIG. First, in step S1, the movement parameter of the vehicle is set based on the movement instruction from the operation unit 18 or the movement instruction based on the work plan stored inside the vehicle. A vehicle 10 with reference to FIG.
Specifically, when the vehicle 10 rotates in a predetermined direction while rotating on its own axis, the X coordinate Xtot of the vehicle 10 at the movement end point when viewed from the vehicle coordinate system fixed at the movement start point. , Y coordinate Ytot, and rotation angle θt of the vehicle from the movement start point to the movement end point
ot and moving time Ttot are set. Where arrow 40
Indicates the orientation of the camera 22.

Next, in step S3, the entire movement section from the movement start point to the movement end point is divided into a plurality of small sections determined by the rotation angle. The number S of small sections to be divided is determined by the following equation using the preset rotation angle θseg for each small section.

[0029]

## EQU1 ## S = .theta.tot / .theta.seg Here, an arbitrary value can be set as the rotation angle .theta.seg of the small section, and this value determines the deviation from the ideal translational rotation movement. In order to reduce the deviation from the ideal translational rotation movement even during movement in each small section, 0 ° <θseg ≦
Angles in the range of about 5 ° are preferred. Further, the rotation angle θseg of this small section may be stored in the computer 32 in advance, or the state of the route along which the omnidirectional vehicle 10 moves (road width, presence or absence of obstacles, etc.).
It may be input from the operation unit 18 in accordance with the above.

When the rotation angle θtot of the vehicle in the entire movement section is equal to or smaller than the rotation angle θseg in the small section, even if the vehicle is moved by the movement control method of this embodiment, the deviation from the ideal translational rotation movement is small. There is no need to divide into small sections.

Further, as a result of executing the calculation for obtaining the number S of small sections, if there is a remainder that is not divisible, a movement section corresponding to the remainder (hereinafter referred to as "remainder section") will be described in detail after step S21. explain.

In step S5, the elapsed time t is set to "0".

In step S7, the variable i representing the small section is set to "0" representing the first small section.

In step S9, the vehicle 10 in each small section is
Calculate the moving speed of. First, a small section

Vehicle 1 at [0]
The moving speed of 0 is calculated. Small section

Straight travel distance L of [0]
The seg is obtained by dividing the linear distance of the entire moving section into the number S of small sections.

[0035]

[Equation 2]

Next, the calculated straight line movement distance Lse of the small section
The turning movement distance LRseg along the arc corresponding to g is
Using the geometric relationships shown in FIG.

[0037]

[Equation 3]

The angle α formed between the X axis of the vehicle coordinate system in the movement start state and the linear movement direction is

[0039]

[Equation 4]

Further, the moving speed of the vehicle 10 along the arc is
Let V be the moving distance LRseg along the arc of the small section.
Is divided by the time Tseg (= Ttot / S) required for the movement, the moving speed V of the vehicle 10 can be obtained.

[0041]

[Equation 5]

Next, as shown in FIG. 8, Vx and Vy are the X and Y components of the moving speed V of the vehicle 10, and ω is the rotation speed of the vehicle 10. In the following description, the X component Vx, the Y component Vy, and the rotation speed ω of the moving speed of the vehicle 10 may be collectively referred to as the vehicle moving speed. Also,
V1 to V3 are moving speeds of the wheels 14, and ω1 to ω3 are wheels 1
4 is the rotation speed, and the relationship between the two is the radius of the wheel 14 r
Then, for example, there is a relationship of V1 = rω1. The vehicle moving speed at this time is a value based on the coordinate system fixed to the vehicle 10.

Therefore, a small section

Moving speed V of the vehicle 10 at [0]

X component Vx of [0]

[0], Y component Vy

[0],
Small section

Rotational speed ω of the vehicle 10 at [0]

[0] is as follows.

[0044]

[Equation 6]

Next, the obtained small section

Using the vehicle moving speeds Vx (0), Vy (0), and ω (0) in [0], the X component Vx of the moving speed of the vehicle 10 in an arbitrary small section [i].
[I], Y component Vy [i], rotation speed ω of the vehicle 10.
A method for obtaining [i] will be described. Since the vehicle 10 rotates by θseg for each small section, the small section [i]

Considering [0] as a reference (θseg *
Only i) will rotate. Therefore,

[0046]

[Equation 7]

In step S11, an arbitrary small section [i]
The rotational speeds ω1 [i] to ω3 [i] of the wheels 14 at are calculated. Vehicle 1 in small section [i] obtained in step S9
X component Vx [i], Y component Vy [i] of the moving speed of 0,
Using the rotation speed ω [i] and the moving speeds V1 [i] to V3 [i] of the wheels 14,

[0048]

[Equation 8]

Next, the rotational speeds ω1 [i] to ω3 of the wheels 10 are utilized by utilizing the relationship between the moving speed and the rotational speed of the wheels 14.
When [i] is calculated,

[0050]

[Equation 9]

Rotational speeds of the wheels 14 ω1 [i] to ω3
[I] is actually obtained by the computer 32 by inverse kinematics calculation.

In step 13, the rotational speeds of the wheels 14 in the small section [i] are obtained in S11 from ω1 [i] to ω1.
Control is performed so as to be 3 [i]. That is, the rotation speed ω1 of each wheel 14 obtained by the inverse kinematics calculation
[I] to ω3 [i] are sent to the motor driver 34. Then, the motor driver 34 controls the servo motor 36 so that the rotation speed of each wheel 14 maintains a predetermined value ω1 [i] to ω3 [i].

In this way, when the vehicle 10 is moved so that the rotation speed of the wheels 14 becomes constant in the small section [i],
The vehicle 10 turns in a small section [i]. At the point where this turning movement is completed, the orientation of the vehicle (the orientation of the camera 22) is the same as when the ideal translational rotation movement was performed. That is, for example, the first small section

At the turning movement end point in [0], the time Tseg = Tto from the start of movement.
Since t / S has elapsed, it is in a translated and rotated state by the X coordinate Xtot / S, the Y coordinate Ytot / S, and the rotation angle θtot / S.

Further, since the encoders 38 are connected to the respective wheels 14, the computer 32 causes the rotational speeds of the respective wheels 14 measured by the encoder 38 to be calculated by calculating the rotational speeds ω1 [i] to ω3 [i]. ], The rotation speed is ω1 [i] to ω3
The servo motor 36 is controlled so as to obtain [i].

In step S15, an arbitrary small section [i]
It is determined whether or not the turning movement is completed. This determination is based on the elapsed time t from the start of movement of all movement sections to the present and the end of turning movement of the small section [i] (Tseg * (i
This is done by comparing the time up to +1)).
If "NO" in this step, that is, the elapsed time t
If is smaller, the turning movement in the small section [i] is not yet completed, and therefore the rotation speed of each wheel 14 is set to step S.
Rotational speeds ω1 [i] to ω3 of the wheels 14 obtained in step 13
Control is continued so as to obtain [i]. On the other hand, "YE
In the case of "S", that is, when the elapsed time t is longer, the turning movement of the small section [i] has been completed, so that the process proceeds to the next step S17.

In step S17, the next small section [i +
1], the variable i representing the small section is changed to (i +
1).

In step S19, it is determined whether or not the turning movement is completed in all the small sections set in step S3. In the case of "NO" in this step, that is, the value of the variable i of the small section and the number of small sections S obtained in step S3
When the value of the variable i is small, the process returns to step S9, and the moving speed of the vehicle 10 in the small section [i + 1] is calculated. On the other hand, if "YES" in this step, that is, if the value of the variable i is equal to the number S of small sections, the turning movement is completed for all the small sections divided in step S3, It proceeds to step S21.

In step S21, when the number S of small sections is obtained in step S3, it is determined whether or not it is not divisible by S = θtot / θseg, that is, there is a remainder. If “NO” in this step, that is, if there is no remainder, the omnidirectional vehicle 10
Has moved to the movement end point of all movement sections, so movement control ends. If "YES" in this step, that is, if there is a surplus, it is confirmed that the entire traveling section has not been completely moved just by performing the turning movement of the small section, and the remaining section remains. It shows.

In step S23, the movement control is performed for the surplus section, and the movement control is ended by moving to the movement end point of all the movement sections. The movement control in the surplus section will be described in detail in the following steps.

The movement control method in the surplus section of the omnidirectional vehicle 10 will be described in detail with reference to the flow chart shown in FIG. The movement control method in the surplus section is performed in step S3.
Is performed in steps similar to the movement control method in the above-described small section except that there is no step of dividing into a plurality of small sections.

Referring to FIG. 9, first, in step S23a, similarly to step S1, the movement parameter of the vehicle 10 is set again in the surplus section. That is, in the surplus section, the X coordinate XA and the Y coordinate Y of the vehicle 10 in the movement end state when viewed from the vehicle coordinate system in the movement start state.
A, the rotation angle θA of the vehicle 10 from the movement start state to the movement end state, and the movement time TA during that period are set.

In step S23b, as in step S3, the elapsed time tA from the start of movement in the surplus section is set to "0".

In step S23c, the moving speeds VAx, VAy, ωA of the vehicle 10 are calculated using the moving parameters of the vehicle 10 in the surplus section obtained in step S23a, as in step S9.

In step S23d, similarly to step S11, the rotational speeds ωA1, ωA2, ωA3 of the wheels 14 are calculated using the moving speeds VAx, VAy, ωA of the vehicle 10 in the surplus section calculated in step S23c.

In step S23e, the rotational speeds of the wheels 14 are ωA1, ωA2, ωA3 obtained in step S24d.
The servo motor 36 is controlled so that

In step S23f, the elapsed time tA from the start of movement of the surplus section and the movement time TA of the surplus section set in step S23a are compared. As a result, if “NO” in this step, that is, if tA is larger, the movement of the remaining section is not yet finished,
The rotation speed of each wheel 14 is continuously controlled by the servo motor 36 so as to be ωA1, ωA2, ωA3. On the other hand, in the case of "YES", that is, when it is smaller, the movement of all the movement sections including the remainder section has ended, so the movement control of the omnidirectional vehicle 10 is ended.

When the omnidirectional vehicle 10 is moved by the above-described movement control method, the vehicle 10 is divided into a plurality of small sections (three small sections in the case of FIG. 10) having small rotation angles as shown in FIG. It is understood that, since the vehicle makes a turning movement, each of the small sections makes an approximate translational rotation movement with little deviation from the ideal translational rotation movement. Therefore, it can be seen that even in the entire movement section, the similar translational rotation movement with a small deviation from the ideal translational rotation movement is similarly performed. Here, an arrow 40 indicates the direction of the camera 22 fixed to the vehicle body 16 of the omnidirectional vehicle 10, a dotted line indicates an ideal translational rotational movement, and a solid line indicates an approximate translational rotational movement that can be realized in this embodiment. There is.

Therefore, when the vehicle 10 equipped with the camera 22 fixed to the vehicle 10 moves in a predetermined direction,
It becomes easy to move while catching an object existing in a direction forming an angle with the direction 40 of the camera 22 within the field of view of the camera 22.

Further, the direction 40 of the camera 22 at the point where the vehicle 10 has finished moving in an arbitrary small section and all moving sections.
Is moving so as to face the same direction as the direction 40 of the camera 22 when an ideal translational rotation movement is performed.

Therefore, when the manipulator 20 operates the object captured by the camera 22 at the point where the movement of any small section or the entire movement section is completed, the manipulator 20 is used to move the object in a predetermined direction as in the conventional case. It no longer requires the two steps of rotation.

Although the three-wheeled omnidirectional vehicle has been described as an example of the omnidirectional vehicle using this movement control method, the vehicle moving speeds Vx, Vy and ω can be freely controlled. It can be easily expanded and applied to an omnidirectional vehicle having four wheels or more.

As a method for determining whether or not the movement of the small section is completed, in step S15, the angle (ω1 [i] * Tseg) at which the wheel 14 should rotate and the encoder 38 are used for each small section. It can also be performed by comparing the rotation angle of the wheel 14 measured by the above. The determination method using this rotation angle is performed when the rotation speed of the wheels 14 cannot be maintained at the value calculated in step S11, such as when the wheels 14 get over a bump on the road surface.
It is possible to accurately determine the end of the movement of the small section.

[Brief description of drawings]

FIG. 1 is an illustrative view showing an omnidirectional vehicle according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an example of wheels used in the omnidirectional vehicle of FIG. 1 embodiment.

FIG. 3 is an illustrative view showing a bottom surface of the omnidirectional vehicle of FIG. 1 embodiment.

FIG. 4 is a block diagram showing a movement control device of FIG. 1 embodiment.

FIG. 5 is a flowchart showing a movement control method of the embodiment in FIG.

FIG. 6 is an illustrative view showing movement parameters of a vehicle.

[Figure 7] Small section

It is an illustration figure which shows obtaining a vehicle moving speed in [0].

FIG. 8 is an illustrative view showing a vehicle moving speed and a wheel rotation speed.

FIG. 9 is a flowchart showing a movement control method in a surplus section in the embodiment of FIG.

FIG. 10 is an illustrative view of an approximate translational rotation movement.

FIG. 11 is an illustrative view showing an ideal translational rotational movement.

FIG. 12 is an illustrative view showing a turning movement.

[Explanation of symbols]

10 ... Vehicles moving in all directions 14 ... Wheels 22 ... Camera 24 ... Omni Wheel 30 ... Control device 32 ... Computer

Claims (7)

[Claims] 1. A movement control method for an omnidirectional vehicle that moves in a predetermined direction while rotating, comprising: (a) a total number of travel sections determined by the number of rotation angles of all the travel sections of the omnidirectional vehicle. Dividing into a plurality of small sections, (b) obtaining a first rotation speed of a wheel of the omnidirectional vehicle based on the rotation angle of each of the small sections, and (c) A movement control method for an omnidirectional vehicle, comprising the step of controlling the rotation speed of the wheels to be the first rotation speed. 2. The entire moving section is divided into a plurality of the small sections in the step (a) by dividing the rotation angles of the entire moving section into predetermined angles. A movement control method for a directional vehicle. 3. The movement control method for an omnidirectional vehicle according to claim 2, wherein the predetermined angle is an angle in a range of more than 0 ° and 5 ° or less. 4. In the step (b), a vehicle moving speed of the omnidirectional moving vehicle is obtained based on distance information of the omnidirectional moving section, a rotation angle and a moving time of the omnidirectional moving vehicle in the all moving section. The movement control method for an omnidirectional vehicle according to any one of claims 1 to 3, further comprising: determining the first rotation speed based on the vehicle movement speed. 5. In the step (c), it is necessary to determine whether or not the control of the rotation speed of the wheel in a predetermined small section is completed from the start of the movement to the end of the movement of the predetermined small section. The movement control method for an omnidirectional vehicle according to any one of claims 1 to 4, wherein the movement control method is performed by comparing the time with a time obtained by calculation. 6. In the step (c), it is judged whether or not the control of the rotation speed of the wheel in a predetermined small section is completed, from the start of the movement to the end of the movement in the predetermined small section. 2. The measurement is carried out by comparing the measurement result of the rotation angle of 1 and the rotation angle obtained by calculation.
5. A movement control method for an omnidirectional vehicle according to any one of 4 to 4. 7. In the step (a), in a remainder section generated when the entire movement section is divided into small sections, (d) distance information of the remainder section and rotation of the omnidirectional vehicle in the remainder section. An angle and a moving time are set, (e) a second rotation speed in the surplus section is obtained based on the information obtained in step (d), (f) a rotation speed of the wheel is the first The movement control method for an omnidirectional vehicle according to any one of claims 1 to 6, further comprising a step of controlling the rotation speed to be two rotation speeds.