JP2005145090A - Autonomous movable body, unmanned airship, and method of guiding autonomous movable body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous movable body capable of automatically realizing duration flight in a limited air area about a ground fixed point in both calms and strong wind. <P>SOLUTION: This unmanned airship 1 having a hull 10 and a steering device comprises wind velocity and wind orientation estimating part 51 estimating wind velocity/wind orientation around the hull 10 and a guide part 52 generating guide instructions for controlling the steering device according to the wind velocity. The guide part 52 comprises a means 53 generating guide instructions for turning the hull 10 about the ground fixed point P when the wind velocity is less than a specified threshold and a means 54 for generating guide instruction for moving the hull 10 toward virtual target points by setting two virtual target points near the ground fixed point P when the wind velocity exceeds a specified threshold. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an autonomous mobile body, an unmanned airship, and a method for guiding an autonomous mobile body, and in particular, moves within a predetermined fluid and an autonomous mobile body and an unmanned airship that are stagnant within a predetermined finite airspace centered on a ground fixed point. The present invention relates to a method for guiding an autonomous mobile body that limits the movement area of various autonomous mobile bodies to a finite area.

Conventionally, airships that have been levitated using the buoyancy of a buoyant gas such as helium and that can fly freely with a propulsion device or a control device have been proposed and put to practical use. In particular, unmanned airships capable of flying in the stratosphere at an altitude of about 15 km or more are currently being developed for the purpose of information relay, monitoring, weather observation, and the like (see, for example, Patent Document 1). In recent years, for the purpose of making such an unmanned airship almost stationary on the ground, a technique for flying in a finite airspace centered on a predetermined ground fixed point has been sought.
JP 2000-280989 A (first page, FIG. 1)

  However, there are the following problems in order to realize “geographically stationary flight” in which an unmanned airship flies over the air in a finite airspace centered on a predetermined ground fixed point.

  First, since an unmanned airship supports its own weight using lift as well as buoyancy acting on the hull, it is necessary to fly while ensuring a predetermined airspeed. However, since this airspeed is zero or small, there is a problem that it is impossible to secure the lift necessary for flight. As a result, “geostatic flight” becomes impossible.

  On the other hand, in strong winds, it is theoretically possible to “fly to the ground” by flying an unmanned airship in front of the wind. However, an unmanned airship has a huge hull to obtain buoyancy. , The movement is extremely slow and it is easy to be swept away by the wind. Therefore, when the wind direction fluctuates, it is impossible to move quickly enough to cope with the fluctuation of the wind direction, and it becomes difficult to maintain “geographically stationary flight”. In order to return the hull once deviated from the finite airspace to the finite airspace again in a strong wind, there is a problem that a very large turning radius is required.

  In addition, various autonomous moving bodies other than unmanned airships have been proposed due to recent advances in control technology, but the movement area of such various autonomous moving bodies that move within a predetermined fluid can be set according to the speed and direction of the fluid. Regardless, there is a need for the development of a guidance technique for limiting to a predetermined finite area centered on the ground fixed point.

  An object of the present invention is to provide an autonomous mobile body and an unmanned airship capable of automatically realizing a stray flight in a finite airspace centered on a predetermined ground fixed point in both no wind (light wind) and strong wind. Is to provide.

  In addition, an object of the present invention is to limit the movement area of various autonomous moving bodies that move in a predetermined fluid to a finite area centered on a predetermined ground fixed point regardless of the speed and direction of the fluid. It is to provide a method for guiding an autonomous mobile body.

  In order to solve the above problems, the invention according to claim 1 is an autonomous mobile body including a predetermined control device, and a wind speed and wind direction estimating unit that estimates a wind speed and a wind direction around the autonomous mobile body, A guidance unit that generates a guidance command for controlling the control device according to the wind speed estimated by the wind speed and wind direction estimation unit, and the guidance unit has a predetermined wind speed estimated by the wind speed and wind direction estimation unit. The wind speed estimated by the wind speed and wind direction estimation unit exceeds a predetermined threshold value, and a turn guidance means for generating a guidance command for turning the autonomous mobile body around the predetermined ground fixed point The first virtual straight line passing through the ground fixed point parallel to the wind direction estimated by the wind speed and wind direction estimating unit, the second virtual straight line orthogonal to the first virtual straight line and passing through the ground fixed point, On the second virtual straight line A target setting means for setting two virtual target points arranged at substantially symmetrical positions with respect to each other, and toward the virtual target point located on the opposite side of the autonomous mobile body with the first virtual line therebetween Target guidance means for generating a guidance command for moving the autonomous mobile body.

  According to the first aspect of the present invention, when the estimated wind speed is equal to or less than a predetermined threshold value (for example, when there is no wind or light wind), the guide unit turns the hull around a predetermined ground fixed point. A turning guidance means for generating a simple guidance command. Therefore, since the autonomous mobile body can perform a turning flight centering on the ground fixed point when there is no wind or light wind, it can generate a lift necessary for the flight while ensuring a predetermined airspeed. In addition, it is possible to fly in the finite airspace centered on the ground fixed point.

  According to the first aspect of the present invention, when the estimated wind speed exceeds a predetermined threshold (for example, during strong winds), the guiding unit is parallel to the estimated wind direction and passes through the ground fixed point. A virtual straight line, a second virtual straight line that is orthogonal to the first virtual straight line and passes through the ground fixed point, and two virtual target points that are disposed on the second virtual straight line at substantially symmetrical positions with the ground fixed point interposed therebetween. It has target setting means for setting. And it has the target guidance means which produces | generates the guidance command for moving an autonomous mobile body toward the virtual target point located on the opposite side to an autonomous mobile body across the 1st virtual straight line.

  Accordingly, the autonomous mobile body is guided to fly toward the virtual points (virtual target points) arranged on the left and right sides of the virtual straight line (first virtual straight line) passing through the ground fixed point parallel to the wind direction in strong winds. Will be. As a result, the autonomous mobile body draws a figure of 8 in the ground with the nose pointing toward the windward side in a finite airspace centered on the ground fixed point even when the wind direction fluctuates during strong winds. Can perform a long flight.

  The invention according to claim 2 is the autonomous mobile body according to claim 1, wherein the autonomous mobile body is an unmanned airship.

  The invention described in claim 3 is an unmanned airship, and is characterized by flying while moving up, down, left, and right in a predetermined finite airspace toward the windward.

  According to the third aspect of the present invention, the unmanned airship can fly while moving up, down, left and right toward the windward within a predetermined finite airspace.

  According to a fourth aspect of the present invention, there is provided an autonomous mobile body that guides the autonomous mobile body so as to limit a movement area of the autonomous mobile body that moves in a predetermined fluid to a limited area centered on a predetermined ground fixed point. A guidance method for turning the autonomous mobile body around the fixed point when the velocity of the fluid around the autonomous mobile body is equal to or less than a predetermined threshold, and surrounding the autonomous mobile body A first imaginary line passing through the ground fixed point parallel to the fluid flow direction and perpendicular to the first imaginary straight line and passing through the ground fixed point when the velocity of the fluid exceeds a predetermined threshold value A target setting step for setting a second virtual straight line and two virtual target points arranged on the second virtual straight line at substantially symmetrical positions across the ground fixed point, with the first virtual straight line being separated Positioned on the opposite side of the autonomous mobile body A target induction step of moving the autonomous moving body toward the virtual target points, characterized in that it comprises a.

  According to the invention described in claim 4, there is provided a turning guidance step for turning the autonomous moving body around a predetermined ground fixed point when the velocity of the fluid around the autonomous moving body is a predetermined threshold value or less. ing. Therefore, when the fluid velocity around the autonomous mobile body is low, the movement area of the autonomous mobile body can be limited to a finite area centered on the ground fixed point.

  According to the fourth aspect of the present invention, when the velocity of the fluid around the autonomous mobile body exceeds a predetermined threshold value, the first virtual straight line that is parallel to the wind direction of the fluid flow and passes through the ground fixed point. And a second virtual straight line that is orthogonal to the first virtual straight line and passes through the ground fixed point, and two virtual target points that are arranged on the second virtual straight line at substantially symmetrical positions with the ground fixed point interposed therebetween. It has a goal setting process. And it has the target guidance process which moves an autonomous mobile body toward the virtual target point located on the opposite side to a ship body across the 1st virtual straight line.

  Accordingly, the autonomous mobile body has virtual points (virtual points) arranged on the left and right sides of a virtual straight line (first virtual straight line) passing through a fixed point parallel to the direction of fluid flow when the velocity of the surrounding fluid is high. It will be guided to meander toward the target point. As a result, even when the fluid velocity around the autonomous mobile body is high and the direction of fluid flow fluctuates, the movement area of the autonomous mobile body can be limited to a finite area centered on the ground fixed point. .

  According to the first or second aspect of the invention, the guidance unit of the autonomous mobile body generates a guidance command for turning the autonomous mobile body around the ground fixed point when there is no wind (light wind). In a strong wind, two virtual target points are automatically set in the vicinity of the ground fixed point, and a guidance command for moving the autonomous moving body toward these virtual target points is generated. As a result, the autonomous mobile body can automatically realize a flying flight in a finite airspace centered on a predetermined ground fixed point both in the absence of wind (when the wind is weak) and when the wind is strong.

  According to the third aspect of the present invention, the unmanned airship can fly while moving up, down, left and right toward the windward within a predetermined finite airspace.

  According to the invention described in claim 4, when the velocity of the fluid around the autonomous mobile body is equal to or lower than the predetermined threshold, the autonomous mobile body is turned around the ground fixed point, while the fluid around the autonomous mobile body When the speed exceeds a predetermined threshold, two virtual target points are set near the ground fixed point, and the autonomous mobile body is moved toward these virtual target points. As a result, the moving area of the autonomous moving body can be limited to a finite area centered on the ground fixed point regardless of the speed and direction of the fluid around the autonomous moving body.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, as an example of the autonomous mobile body according to the present invention, a relatively large unmanned airship that performs aerial flight in a finite airspace centered on a predetermined ground fixed point for the purpose of information relay or the like. Will be explained.

  First, the configuration of the unmanned airship 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the unmanned airship 1 includes a hull 10 formed of a flexible outer skin, a gondola 20 provided on the lower surface of the hull 10, and a guidance control device 50 mounted inside the gondola 20 (see FIG. 2). , Etc. are provided.

  The hull 10 is composed of a flexible outer skin made of synthetic resin or light metal. A plurality of baronets filled with air are provided in the hull 10. Further, the space excluding the baronet in the hull 10 is filled with levitation gas, and the shape of the hull 10 is maintained by the pressure of the levitation gas and the pressure of air filled in the baronet.

  As shown in FIG. 1, a vertical tail 11 having a rudder 12 is provided on the upper and lower surfaces near the stern of the hull 10, and an elevator (not shown) is provided on the side near the stern of the hull 10. The horizontal tail 13 provided is provided. The rudder 12 and the elevator are driven by a control device (not shown) mounted on the gondola 20.

  The gondola 20 acquires a steering device that drives the rudder 12 and the elevator, a propulsion device such as an engine / propeller, a ground speed sensor 30 that acquires the ground speed of the hull 10 (see FIG. 2), and the air speed of the hull 10. The air speed sensor 40 (see FIG. 2), the wind speed and the wind direction around the hull 10 are estimated based on the speed information acquired by the ground speed sensor 30 and the air speed sensor 40, and the estimated wind speed and wind direction are estimated. A guidance control device 50 (see FIG. 2) for generating a specific guidance command based on the control and drivingly controlling the steering device or the like is mounted.

  In the present embodiment, a GPS (Global Positioning System) is adopted as the ground speed sensor 30, and information transmitted from a predetermined GPS satellite is received by a GPS receiver mounted in the gondola 20. Thus, the ground speed information of the hull 10 and the ground position information of the hull 10 are acquired. In the present embodiment, an ADS (Air Data System) is adopted as the airspeed sensor 40, and static pressure, dynamic pressure, and outside air measured by a pitot tube or a thermometer provided in the hull 10 are used. The airspeed is calculated based on temperature and the like.

  The guidance control device 50 includes a CPU (Central Processing Unit) for integrated control of the entire unmanned airship 1, a ROM (Read Only Memory) storing various control programs and control data, and the like as shown in FIG. It has a functional configuration. That is, the guidance control device 50 includes a wind speed / wind direction estimation unit 51 that estimates the wind speed / wind direction around the hull 10 based on the speed information acquired by the ground speed sensor 30 and the air speed sensor 40, and the estimated wind speed / And a guidance unit 52 that generates a specific guidance control command based on the wind direction.

  As shown in FIG. 2, the guidance unit 52 is estimated by the weak wind guidance unit 53 that generates a guidance command when the wind speed estimated by the wind speed / wind direction estimation unit 51 is equal to or less than a predetermined threshold, and the wind speed / wind direction estimation unit 51 estimates the wind speed. And a strong wind guidance unit 54 that generates a guidance command when the wind speed exceeds a predetermined threshold. In the present embodiment, the threshold value is set to “7 (m / s)”. In the present embodiment, “azimuth angle command”, “airspeed command”, and “attack angle command” are adopted as the guidance commands.

  The weak wind guidance unit 53 is a turning guidance unit in the present invention, and when the wind speed estimated by the wind speed / wind direction estimation unit 51 is equal to or less than a predetermined threshold (7 (m / s)), the predetermined ground fixed point is the center. A guidance command for turning the hull 10 is generated. The above-described control device and propulsion device are driven and controlled based on the guidance command generated by the light wind guidance unit 53. In the present embodiment, when the operator operates a predetermined operation unit on the ground, information related to the ground fixed point (target horizontal plane position) is input to the guidance control device 50 in advance before the flight. Although the ground fixed point is preferably set to the flight target altitude, it can also be set to an altitude higher (or lower) than the flight target altitude.

  The strong wind guidance unit 54 is a target setting unit and a target guidance unit according to the present invention. When the wind speed estimated by the wind speed / wind direction estimation unit 51 exceeds a predetermined threshold (7 (m / s)), the wind speed / wind direction is determined. A first virtual line parallel to the wind direction estimated by the estimating unit 51 and passing through the ground fixed point, a second virtual line orthogonal to the first virtual line and passing through the ground fixed point, and a ground fixed point on the second virtual line Two virtual target points that are arranged at substantially symmetrical positions are set, and the hull 10 is moved toward a virtual target point that is located on the opposite side of the hull 10 across the first virtual straight line. A simple guidance command is generated. The aforementioned steering device and propulsion device are driven and controlled based on the guidance command generated by the strong wind guidance unit 54. In addition, the position (current horizontal plane position) of the hull 10 used when the guidance command is generated by the strong wind guidance unit 54 is acquired by the GPS described above.

  The strong wind guidance unit 54 sets the first virtual straight line “parallel” to the wind direction estimated by the wind speed / wind direction estimation unit 51, and this “parallel” is the wind direction estimated by the wind speed / wind direction estimation unit 51. It is not meant to be strictly parallel to, but tolerates some madness. If the first imaginary straight line is strictly parallel to the wind direction, it is preferable because it can deal with a wide range of wind speeds and can be efficiently controlled with less energy consumption and less control operation. Even if there is a deviation, it can be dealt with by changing the thrust of the propulsion device.

  The wind speed / wind direction estimating unit 51 receives a wind speed / wind direction estimation program stored in a ROM, a speed information acquired by the ground speed sensor 30 and the air speed sensor 40, and a CPU that executes the wind speed / wind direction estimation program. It is configured. The guiding unit 52 selects various programs according to various guidance programs (turning guidance program, target setting program, target guidance program, etc.) stored in the ROM, and the wind speed value estimated by the wind speed / wind direction estimating unit 51. The CPU is executed and the like.

  Next, guidance control of the unmanned airship 1 according to the present embodiment will be described with reference to FIGS. 3 and 4. In addition, the guidance control according to the present embodiment is a finite that extends vertically 150 m above and below about a plane including a virtual circle V with a radius of 1000 m centered on the ground fixed point P as shown in FIGS. 3 and 4. The purpose is to make the unmanned airship 1 fly over in the airspace (virtual cylindrical finite airspace).

<Guidance control during no wind (light wind)>
First, with reference to FIG. 3, description will be given of the guidance control when there is no wind or light wind (when the wind speed estimated by the wind speed and wind direction estimation unit 51 is equal to or less than a predetermined threshold).

  When the wind speed estimated by the wind speed / wind direction estimating unit 51 is equal to or less than a predetermined threshold (7 (m / s)), the light wind guidance unit 53 of the guidance control device 50 moves the hull 10 around the ground fixed point P. A guidance command (for example, an azimuth command that always points the nose of the hull 10 toward the fixed point P) is generated so as to make a turn flight. Moreover, the weak wind time guidance | induction part 53 produces | generates the airspeed command and the angle-of-attack command for generating the lift which the hull 10 can stay in a virtual cylindrical finite airspace.

  Thus, the rudder 12 of the steering device is driven and controlled, and the propulsion device is driven and controlled by the guidance commands (azimuth angle command, airspeed command and angle of attack command) generated by the low wind guidance unit 53. . As a result, as shown in FIG. 3, the unmanned airship 1 performs a turnover flight at a predetermined speed so as to draw a substantially circular orbit S centered on the ground fixed point P in the virtual cylindrical finite airspace (turning guidance step). ).

<Guidance control in strong wind>
Next, with reference to FIG. 4, guidance control in a strong wind (when the wind speed estimated by the wind speed / wind direction estimating unit 51 exceeds a predetermined threshold) will be described.

When the wind speed estimated by the wind speed / wind direction estimating unit 51 exceeds a predetermined threshold value (7 (m / s)), the strong wind guidance unit 54 of the guidance control device 50 determines the wind direction estimated by the wind speed / wind direction estimating unit 51 ( For example, a first virtual straight line L ₁ that is parallel to the ground fixed point P and parallel to the ground fixed point P, and a second virtual straight line L ₂ that is orthogonal to the first virtual straight line L ₁ and passes through the ground fixed point P; Two virtual target points A ₁ and A ₂ are set on the second virtual straight line L ₂ at substantially symmetrical positions with the ground fixed point P in between (target setting step).

The distance from the ground fixed point P to the virtual target points A ₁ and A ₂ can be appropriately determined according to the size / weight of the hull 10 of the unmanned airship 1, the control performance, and the like. In the present embodiment, as shown in FIG. 4, the distance from the ground fixed point P to the virtual target points A ₁ and A _{2 is set} to about 1/3 of the radius (1000 m) of the virtual circle V of the virtual cylindrical finite airspace. The length is set.

Next, the strong wind guidance unit 54 of the guidance control device 50 moves the hull 10 toward the virtual target point A ₁ or A ₂ located on the opposite side of the hull 10 across the first virtual straight line L _1. Generate a guidance command.

For example, in the virtual circle V shown in FIG. 4, when the hull 10 is located in a semicircular region including the virtual target point A ₁ , the strong wind guidance unit 54 moves to the virtual target point A ₂ . A guidance command for moving the hull 10 toward the head is generated. On the other hand, when the hull 10 is located in the semicircular region including the virtual target point A ₂ in the virtual circle V shown in FIG. 4, the strong wind guidance unit 54 uses the virtual target point A _1. A guidance command for moving the hull 10 toward is generated. Similarly to the weak wind guidance unit 53, the strong wind guidance unit 54 issues an airspeed command and an attack angle command for generating lift that allows the hull 10 to remain in the virtual cylindrical finite airspace. Generate.

  Thus, the rudder 12 of the steering device is driven and controlled, and the propulsion device is driven and controlled by the guidance commands (azimuth angle command, airspeed command, and attack angle command) generated by the strong wind guidance unit 54. As a result, as shown in FIG. 4, the unmanned airship 1 flies in the vicinity of the ground fixed point P in the virtual cylindrical finite airspace. In other words, the unmanned airship 1 as a result of the guidance command that causes the meandering flight toward the windward side results in a flying flight that draws approximately 8 characters in the vicinity of the ground fixed point P. (Target guidance process).

  In this target guidance process, the unmanned airship 1 flies in a virtual cylindrical finite airspace including a virtual circle V centered on the ground fixed point P while moving in the horizontal direction toward the windward based on the azimuth command. At the same time, the aircraft flies up and down based on the airspeed command and the angle-of-attack command. It should be noted that this “movement in the vertical direction” includes movement in the diagonally upward direction and movement in the diagonally downward direction.

  In the unmanned airship 1 according to the embodiment described above, when the wind speed estimated by the wind direction wind speed estimation unit 51 is equal to or less than a predetermined threshold (no wind or light wind), the guidance control device 50 performs guidance during the weak wind. The unit 53 generates a guidance command for turning the hull 10 around the ground fixed point P. Accordingly, the unmanned airship 1 can generate a lift necessary for flight by securing a predetermined airspeed in a no wind or a light wind, and includes a virtual circle V centered on the ground fixed point P. It is possible to carry out a turning flight in a virtual cylindrical finite airspace (see FIG. 3).

In addition, in the unmanned airship 1 according to the embodiment described above, when the wind speed estimated by the wind direction wind speed estimation unit 51 exceeds a predetermined threshold (during strong wind), the strong wind guidance unit 54 of the guidance control device 50 is used. but the first virtual straight line L ₁ passing through the parallel and ground fixed point P on the estimated wind direction W, and the second virtual straight line L ₂ passing through the orthogonal and ground fixed point P to the first virtual straight line L _1, a second Two virtual target points A ₁ and A ₂ are set on the virtual straight line L ₂ so as to be located substantially symmetrically with respect to the ground fixed point P. Then, a guidance command for moving the hull 10 toward the virtual target point A ₁ or A ₂ located on the opposite side of the hull 10 across the first virtual straight line L ₁ is generated.

Therefore, the unmanned airship 1 flies toward the virtual target point A ₁ or A ₂ arranged on the left and right sides of the first virtual straight line L ₁ that is substantially parallel to the wind direction W and passes through the ground fixed point P in a strong wind. It will be guided to. As a result, the unmanned airship 1 draws a figure of 8 in a grounded manner within a virtual cylindrical finite airspace including a virtual circle V centered on the ground fixed point P even when the wind direction fluctuates during strong winds. It is possible to fly in the air (see FIG. 4).

  In the above embodiment, the example in which the wind speed threshold value for switching the guidance command is set to “7 (m / s)” is shown. However, this threshold value indicates the size / weight of the hull 10, the control performance, It can be appropriately changed according to the propulsive force of the propulsion device and the like.

  Further, in the above embodiment, the information related to the ground fixed point P (target horizontal plane position) is input in advance on the ground before the flight. However, the unmanned airship 1 is equipped with wireless communication means, and the ground fixed point P By transmitting a radio signal related to the position information from the ground, the position information of the ground fixed point P can be input to the guidance control device 50 during the flight.

  Moreover, in the above embodiment, the example which applied the guidance method which concerns on this invention which consists of above-described "turning guidance process", "target setting process", and "target guidance process" to the guidance of the unmanned airship 1 is shown. However, it can also be applied to the guidance of other autonomous mobile objects. For example, the guidance method according to the present invention can be applied to guidance of other unmanned navigation vehicles that move in the air and guidance of unmanned submarines that move in the water.

1 is a side view of an unmanned airship according to an embodiment of the present invention. It is a block diagram for demonstrating the functional structure of the unmanned airship shown in FIG. It is a conceptual diagram which shows the guidance control result in the time of no wind (at the time of a weak wind) of the unmanned airship which concerns on embodiment of this invention. It is a conceptual diagram which shows the guidance control result at the time of the strong wind of the unmanned airship which concerns on embodiment of this invention.

Explanation of symbols

1 Unmanned airship (autonomous moving body)
12 rudder (control device)
51 Wind speed / wind direction estimation unit 52 Guidance unit 53 Guidance unit during weak wind (turning guidance means)
54 Strong wind guidance unit (target setting means, target guidance means)
P Ground fixed point L ₁ 1st virtual straight line L ₂ 2nd virtual straight line A ₁ , A ₂ virtual target point

Claims (4)

An autonomous mobile body provided with a predetermined control device,
A wind speed and wind direction estimating unit for estimating a wind speed and a wind direction around the autonomous mobile body;
A guidance unit that generates a guidance command for controlling the control device according to the wind speed estimated by the wind speed and wind direction estimation unit, and
The guiding portion is
When the wind speed estimated by the wind speed and wind direction estimation unit is a predetermined threshold value or less, a turning guidance unit that generates a guidance command to turn the autonomous mobile body around a predetermined ground fixed point; and
When the wind speed estimated by the wind speed / wind direction estimation unit exceeds a predetermined threshold, the first virtual line parallel to the wind direction estimated by the wind speed / wind direction estimation unit and passing through the ground fixed point, and the first virtual line A second virtual straight line that is orthogonal to the ground fixed point and two virtual target points that are arranged on the second virtual straight line at substantially symmetrical positions across the ground fixed point; ,
Target guidance means for generating a guidance command for moving the autonomous mobile body toward the virtual target point located on the opposite side of the autonomous mobile body across the first virtual straight line;
An autonomous mobile body characterized by comprising: The autonomous mobile body is
The autonomous mobile body according to claim 1, wherein the autonomous mobile body is an unmanned airship.   An unmanned airship that flies while moving up, down, left and right toward the windward in a predetermined finite airspace. An autonomous mobile body guidance method for guiding the autonomous mobile body so as to limit a movement area of the autonomous mobile body moving in a predetermined fluid to a finite area centered on a predetermined ground fixed point,
When the speed of the fluid around the autonomous mobile body is a predetermined threshold value or less, a turning guidance step of turning the autonomous mobile body around the ground fixed point;
When the velocity of the fluid around the autonomous mobile body exceeds a predetermined threshold, the first imaginary straight line that is parallel to the fluid flow direction and passes through the ground fixed point is orthogonal to the first imaginary straight line. And a second virtual straight line that passes through the ground fixed point, and two virtual target points that are arranged on the second virtual straight line at substantially symmetrical positions across the ground fixed point; and
A target guidance step of moving the autonomous mobile body toward the virtual target point located on the opposite side of the autonomous mobile body across the first virtual straight line;
A method for guiding an autonomous mobile body, comprising:

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