JP2007257094A - Method for creating path, moving element and moving element control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for creating a path, for creating a continuous path such that the configuration of a discrete path obtained from a plurality of coordinate points whose positions and order are specified on a plane or within a space is maintained to a certain degree. <P>SOLUTION: The method for creating a path is for creating a smooth continuous path from a discrete path created by linking N pieces of coordinate points in a certain order within a multidimensional space of two or more dimensions. When the continuous path is represented using a parameter (t) where (t) is a certain real number meeting the requirement of t: 0≤t≤N-1 and assumes a value corresponding to a nodal point of the discrete path, in order to cause the coordinate value of the coordinate point (hereinafter a corresponding coordinate point) of the integer closest to (t), included in the set of coordinate points, to most affect the coordinate value of a point A<SB>t</SB>represented as a certain point on the continuous path, the coordinate value of the point A<SB>t</SB>is calculated on the basis of the coordinate points of a plurality of continuous coordinate points including the corresponding coordinate point. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a route creation method for creating a smooth route from a discrete route generated by connecting a plurality of points, and a moving body that creates a route for movement and moves along the created route. And a moving body control system for controlling the moving body.

  In recent years, mobile bodies such as vehicles and walking robots that move autonomously in a limited area such as a limited outdoor area or indoors, and mobile bodies that move in a three-dimensional space such as a micro helicopter have been developed. ing.

  In order to move such a moving body, it is necessary not only to recognize the self-position of the moving body in the moving area, but also to create a moving route on which the moving body will move to the destination in advance or in real time. is there. The temperament moving body is controlled to move along the movement path thus created, and can move to the destination.

  The aforementioned movement route is normally created by specifying a plurality of passing points in the moving region and connecting these passing points. In other words, by defining the passing points through which the moving body passes from the moving start point at which movement starts to the moving end point at which movement stops, the movement start point and the moving end point are connected so as to pass through these passing points. Create a travel route from the start point to the end point. (For example, Patent Documents 1 and 2)

  As one method for creating such a moving path of a moving body, an area map created by virtually depicting grid lines connecting lattice points arranged at substantially constant intervals in a moving area is obtained. A method of creating a movement route using an area map is known. This moving route creation method selects a plurality of grid points on the area map as passing points, generates a discrete route by connecting from the moving start point to the moving end point so as to pass through this passing point, and this discrete route is moved to the moving route. It is what. In the case of such a movement path creation method, by selecting a grid point that minimizes the length of the discrete path obtained by connecting the grid points, the distance from the movement start point to the movement end point in the region is connected to the shortest distance. A travel route can be created. (For example, Patent Document 3)

JP-A-6-34386 Japanese Patent Laid-Open No. 2000-541481 JP 2003-266345 A

  However, since the movement path created using the area map in which such grid lines are virtually depicted is a discrete path created by connecting straight lines and straight lines, the obtained paths are connected. The parts are perpendicular to each other. Therefore, when the moving body is moved based on the moving path created in this way, the movement of the moving body cannot follow the path of the orthogonal part.

  In addition, in order to move the moving body following such a discrete path, even if partial path correction is performed so that the path of the connected part is rounded, the connected part The curvature of the shape becomes large to some extent. Therefore, if all of these joining portions are corrected, the generated shape of the original discrete path cannot be maintained. Therefore, when the moving body moves in the area map in which the grid lines are virtually depicted, a movement plan based on the shape of the discrete path planned for the initial movement cannot be made.

  The present invention has been made to solve such a problem, and a continuous path shape obtained by a plurality of coordinate points whose positions and order are specified on a plane or in space is maintained to some extent. An object of the present invention is to provide a route creation method for creating a route.

  Furthermore, when a plurality of coordinate points whose positions and order are specified on a plane or in a space are given as described above, the present invention has a certain shape of the discrete path generated from these plurality of coordinate points. It is another object of the present invention to provide a movable body that can move along the continuous path.

  Furthermore, when a plurality of coordinate points whose positions and order are specified in a planar shape are given as described above, the present invention generates a discrete path from the plurality of coordinate points, and changes the shape of the discrete path to It is another object of the present invention to provide a moving body control system capable of creating a continuous path maintained to some extent and moving the moving body following the continuous path.

The path creation method according to the present invention creates a smooth continuous path from discrete paths generated by connecting a set of N coordinate points in a certain order in a multi-dimensional space of two or more dimensions. The continuous path is expressed using a parameter t (where t is an arbitrary real number satisfying t: 0 ≦ t ≦ N−1 and corresponding to a node of the discrete path). when the coordinate value of a point a _t expressed as arbitrary point on the continuous path, said included in the coordinate point set, the nearest integer-th coordinate point in t (hereinafter, referred to as the corresponding coordinate points) coordinate values, to provide the greatest influence on the coordinate value of the point a _t, is characterized in that calculated on the basis of the coordinate values of a plurality of coordinate points continuous including the corresponding coordinate point.
According to the route creation method as described above, a discrete route obtained by connecting N coordinate points specified in a multidimensional space (for example, on a plane or in a space) in a certain order is included in a set of coordinate points. The path is corrected to have the greatest influence on the coordinate values of the coordinate points in the order that is closest to t. In other words, in the created route (hereinafter referred to as a continuous route), a coordinate value of a destination to which a plurality of coordinate points located on the discrete route moves is calculated, and a weighted moving average of the coordinate values of each coordinate point is calculated. A continuous path is created by collecting each point after the plurality of coordinate points are moved. By creating a continuous path in this way, the continuous path can be created so that the shape of a discrete path obtained by connecting coordinate points included in the coordinate point set in a certain order is maintained to some extent.

Further, the coordinate values of a plurality of coordinate points, based on a function specified by the value of the parametric t, may be calculated coordinate values of the points A _t. In this way, it is possible to obtain the coordinate value of a point A _t expressed as arbitrary point on the continuous path easily.

  Further, as such a function, it is preferable that weights are given so that the influence of the coordinate points in the order away from the corresponding coordinate point is reduced among the plurality of coordinate points. By using such a function, the degree to which the created path (continuous path) maintains the shape of the discrete path can be increased.

  In addition, the plurality of coordinate points includes a first coordinate point set composed of n / 2 (n: an even number not exceeding 2N) consecutive coordinate points in an earlier order than the corresponding coordinate points, and the corresponding coordinates A second coordinate point set composed of m / 2 (m: an even number not exceeding 2N) consecutive coordinate points in an order later than the points may be included.

  The total number of the first coordinate point set (n / 2) and the number of the second coordinate point set (m / 2) is smaller than the number of coordinate points (N) of the coordinate point set, If it can be selected, the number of the first coordinate point set (n / 2) may be equal to the number of the second coordinate point set (m / 2). Such selection of the numbers n / 2 and m / 2 may be appropriately determined according to the shape of the path to be created and the number of coordinate points included in the initially given coordinate point set.

Incidentally, as the number of the plurality of coordinate points for calculating the coordinate value of the point A _t increases, the overall continuous pathways are created shape is smooth, in accordance with the smoothness degree of the shape, the original discrete path It will move away from the shape. Conversely, reducing the number of coordinate points for calculating the coordinate value of the point A _t, the degree to maintain the shape of the original discrete paths increases. Therefore, the number of points for calculating the coordinate value of the point A _t is the degree to maintain the shape of the discrete paths, in consideration of the smoothness of a continuous pathway to create, it may be determined as appropriate.

  Note that the route creation method according to the present invention enables route creation if the coordinate values of N coordinate points in a multidimensional space and the order of connecting them are specified. That is, it is not always necessary to actually connect these coordinate points to generate a discrete path, and a virtual discrete path may be generated.

The moving body according to the present invention has a movement area in a multi-dimensional space of two or more dimensions and moves from a movement start point specified in the multi-dimensional space to a movement end point specified in the multi-dimensional space. N coordinate point sets including the movement start point and the movement end point are specified in the multidimensional space, and the route creation method according to 1 to 5 is used from these coordinate point sets. A continuous route is created, and the created continuous route is set as a moving route, and the moving region is moved based on the moving route.
Such a moving body is generated by roughly defining a plurality of coordinate points (coordinate point sets) as passing points in the moving area and specifying the order of passing the passing points, and connecting the passing points. A continuous path that keeps the shape of the discrete path to a certain extent moves as a movement path.

  In addition, such a moving body does not create a discrete path by connecting a plurality of determined coordinate points, but only determines a set of coordinate points and an order of passing through the set of coordinate points. A continuous route created by using may be used as the movement route.

  In addition, the mobile body control system according to the present invention includes a mobile body that can move in the multidimensional space using a two-dimensional or higher multidimensional space as a moving region, and N pieces of the specified mobile body in the multidimensional space. A control unit that controls the moving body to move based on each coordinate value of the coordinate point, and the control unit moves a specific coordinate point among the N coordinate points in a multidimensional space. After specifying each as a start point and a movement end point, create a path connecting the movement start point to the movement end point using the N coordinate points as a coordinate point set using the route creation method according to claim 1, The created continuous route is used as a moving route, and the moving body is controlled to move based on the moving route.

  In such a moving body control system, a control unit that controls the movement of the moving body determines points (coordinate point sets) through which the moving body passes, generates a discrete path actually or virtually, and then generates the discrete path. Based on the above, a continuous route is created, and the moving body is moved using the continuous route as a moving route. Therefore, the present invention can be effectively used when the control unit stores map information about the moving area of the moving body and determines a route for moving the moving body based on the map information.

  Further, in the mobile body control system, the control unit identifies individual coordinate points in the multidimensional space, and identifies specific coordinate points from these coordinate points as a movement start point and a movement end point in the multidimensional space, respectively. A route creation unit that creates a continuous route from the movement start point to a movement end point using the N coordinate points as a coordinate point set using the route creation method according to claim 1, and the route creation unit A movement signal transmitting unit that generates a movement signal for moving the moving body along the continuous path created in step S1 and transmits the movement signal to the moving body. In response to the movement signal from the unit, the movement may be performed in the multidimensional space so as to reach the movement end point from the movement start point.

  In addition, after determining the point (coordinate point set) through which the moving body passes, the moving body control system includes each coordinate value of the coordinate point set and the coordinate point set without actually creating a discrete path. It is also possible to create a moving path of a moving object simply by determining the order of passing through the coordinate points.

  As described above, according to the present invention, there is provided a route creation method for creating a continuous route that maintains the shape of a discrete route obtained by a plurality of coordinate points whose positions and order are specified in a multidimensional space. Can be provided.

  Furthermore, when multiple coordinate points whose positions and order are specified in a multidimensional space are given, they can move along a continuous path that retains the shape of the discrete path generated from these multiple coordinate points. It is also possible to provide a simple moving body.

  Furthermore, when a plurality of coordinate points whose positions and order are specified in a planar shape are given as described above, the present invention creates a discrete path from the plurality of coordinate points, and changes the shape of the discrete path to It is also possible to provide a moving body control system capable of creating a continuous path maintained to some extent and moving the moving body to follow the continuous path.

Embodiment 1 of the Invention
The route creation method according to the first exemplary embodiment of the present invention will be described below with reference to the drawings. In this embodiment, a route creation method on a plane will be described as an example of a multidimensional space. FIG. 1 shows 47 (N = 47) coordinate point sets {a ₀ (x ₀ , y ₀ ), a ₁ (x ₁ , y ₁ ), a ₂ (x ₂ , y ₂ ) on the coordinate plane. ,. . . a ₄₆ (x ₄₆ , y ₄₆ )} is arranged. As shown in FIG. 1, the set of coordinate points includes a grid line 22 connecting lattice points arranged at a substantially constant interval d in a region 21 in which a virtual or realistic depiction is made, and These coordinate point sets are arranged on the grid line 22. A discrete path 30 created by connecting these coordinate point sets in this order is generated in the region 21. The discrete path 30 is created by connecting the set of coordinate points in a predetermined order. In this embodiment, a part of the coordinate points (a ₃ , a ₅ , a ₈ , in _{a 9, a 12, a 16} , a 20, a 22, a 25 ~a 32, a 38, a 41, a 42, a 45), the straight line joining are orthogonal.

  Next, a path (hereinafter referred to as a continuous path) obtained so as to partially maintain the shape of the discrete path created in the region 21 will be described with reference to FIGS. This continuous path is created by moving each point on the discrete path 30 to a different position and collecting each point after the movement.

FIG. 2 shows ten coordinate points {a ₅ (x ₅ , y ₅ ), a ₆ (x ₇ , y ₇ ), a ₈ (x ₈ , y ₈ ),. . . a ₁₄ (x ₁₄ , y ₁₄ )} is extracted, and the coordinate point a ₉ (x ₉ , y ₉ ) is converted to the coordinate point A ₉ (X ₉ ) using these ten coordinate points. , Y ₉ ) will be described. In the present embodiment, as the coordinate value of the 10 coordinate points, x coordinates of the corresponding coordinate points a ₉ of point A _9, based on the y-coordinate, x-coordinate (X ₉ is a coordinate point of the point A ₉ ) And y coordinate (Y ₉ ) are obtained.

Further, assuming that a function used to calculate the coordinate point of the point A ₉ in this embodiment is f (i, t), X _{9 as} the x coordinate of the point A ₉ and Y _{9 as the} y coordinate are as follows. As shown in Equations 1 and 2 below:

・・・・・・式１

・ ・ ・ ・ ・ ・ Formula 1

・・・・・・式２

・ ・ ・ ・ ・ ・ Formula 2

However, in the above formulas 1 and 2, f (i, t) is the value of the x coordinate and y coordinate of the corresponding coordinate point a ₉ (x ₉ , y ₉ ) of A ₉ (X ₉ , Y ₉ ). large influence to give (to perform weighting), based on the coordinate values of a plurality of coordinate points continuous including the corresponding coordinate point (x and y coordinates), the coordinate value of the point a ₉ (x-coordinate X ₉ and y-coordinate Y ₉ ) are functions for calculating each (in this case, t = 9, i = 0, 1, 2,... 9). Although how to define this function will be described later, a specific example of the function f (i, t) is shown in the following Expression 3.

・・・・・・式３

・ ・ ・ ・ ・ ・ Formula 3

  In addition, q (i, t) in Equation 3 is a variable based on i and t expressed by the equation shown in Equation 4 below. In Expression 4, int (t) is an integer obtained by rounding off the first decimal place of the real number t.

・・・・・・式４

・ ・ ・ ・ ・ ・ Formula 4

From these formulas 1 to 4, the values of X ₉ and Y ₉ can be expressed as shown in the following formulas 5 and 6, respectively, using x ₅ to x ₁₄ and y _{5 to} y ₁₄ .

・・・・・・式５

・ ・ ・ ・ ・ ・ Formula 5

・・・・・・式６

・ ・ ・ ・ ・ ・ Formula 6

By substituting coordinate values (x _{5 to} x ₁₄ and y _{5 to} y ₁₄ ) into the above formulas 5 and 6, the coordinate values X ₉ and Y ₉ can be calculated. By such a coordinate value calculation method, the point A ₉ (X ₉ , Y ₉ ) has the largest x and y coordinate values of the corresponding coordinate point a ₉ (x ₉ , y ₉ ) corresponding to this point. Based on the values of the x and y coordinates of a plurality of consecutive coordinate points including the corresponding coordinate points so that the influence is exerted and the influence of the coordinate points in the order away from the corresponding coordinate points is smaller. be able to.

In the above example, an example in which t = 9 is shown as the point A _t (X _t , Y _t ). However, for all t satisfying 0 ≦ t ≦ N, the point A _t (X _t , Y The value of _t ) can be calculated. Thus, the coordinate values of the points A _t expressed as arbitrary point on the continuous path obtained by the present path generation method (x-coordinate: X _t and y coordinate: Y _t) to the coordinate point {a 0 _{(x 0, y 0), a 1} (x 1, y 1), a 2 (x 2, y 2) ,. . . The expression generally expressed using the coordinate values (x coordinate and y coordinate) of a _N-1 (x _N−1 , y _N−1 )} is shown in the following Expression 7.

・・・・・・式７

・ ・ ・ ・ ・ ・ Formula 7

In addition, the function f (i, t) is such that the values of the x coordinate and the y coordinate including the corresponding coordinate point in the coordinate point set corresponding to the point A _t (X _t , Y _t ) have the greatest influence. and, to provide reduced impact as coordinate points order away from the corresponding coordinate points, on the basis of the values of x and y coordinates of a plurality of coordinate points consecutive containing the corresponding coordinate points, x of the point a _t It is a function for obtaining coordinates and y coordinates.

  In the above-described example, the case where t is an integer (for example, t = 9) has been described. However, when t is a real number of 0 or more that does not exceed the number of coordinate points N, a general formula is shown in the following formula 8.

・・・・・・式８

・ ・ ・ ・ ・ ・ Formula 8

  In addition, the general formula of p (i, t) in the formula 8 is expressed as the following formula 9, for example.

・・・・・・式９

・ ・ ・ ・ ・ ・ Formula 9

If the function f (i, t) is defined in this way, even if t takes an arbitrary value within a range not less than 0 and exceeding the number N of coordinate points, a set of coordinate points {a ₀ (x ₀ , y ₀ ), a ₁ ( x ₁ , y ₁ ), a ₂ (x ₂ , y ₂ ),. . . A point A _t (X _t , Y _t ) can be expressed using the coordinate values of a specific number (for example, n) of coordinate points in a ₄₆ (x ₄₆ , y ₄₆ )}.

Next, how to determine the function f (i, t) will be described in detail. The function is determined the point _{A t (X t, Y t} ) corresponding coordinate points corresponding to _{a t (x t, y t} ) the tentatively, this point _{a t (x t, y t} ) x -coordinate of and The values of the x and y coordinates of the point A _t (X _t , Y _t ) are set so that the value of the y coordinate has the greatest influence, and the influence of the coordinate points in the order away from the corresponding coordinate point is reduced. It is an example of the function which calculates a value. Details will be described below.
The function f (i, t) shown in Expression 8 is expressed as a quintic function with respect to t, which is determined for the following reason. That is, the function f (i, t) is
(1) The coordinate point of the corresponding coordinate point of the target point A _t (X _t , Y _t ) is most greatly affected, and the coordinate point in the order away from the corresponding coordinate point has a smaller influence (2) The point A _t (X _t , Y _t ) specified using the coordinate point set satisfies the two conditions that it is determined to be a smooth curve. Here, if f (i, t) is a function for t,
f (0) = 0, f (1) = 1, f ′ (0) = 0, f ′ (1) = 0, f ″ (0) = 0, f ″ (1) = 0
It is convenient to satisfy the following six conditions. In other words, a function that satisfies such a condition is most affected by the coordinate values of the corresponding coordinate points, and has a smaller influence on the coordinate points in the order away from the corresponding coordinate points. Is continuous at all points, the fluctuation of coordinate values is continuous, and the degree of fluctuation of coordinate values (second-order differential value) is also continuous. It becomes.

When the function specified by the polynomial defined by the above six conditions is a quintic function, substituting the above six conditions into f (i, t) = at ⁵ + bt ⁴ + ct ³ + dt ² + et + f, a = 6, b = 15, c = -10, d = e = f = 0, and this is a quintic function as shown in Equation 8 above.

  In addition, the function in this invention is not restricted to the above quintic functions, but is suitably determined as needed. For example, when the smoothness of the created continuous path is not so necessary, the f (i, t) may be specified up to the first-order differential value with respect to t. In such a case, f (i, t) is obtained by a cubic function with respect to t. On the other hand, when the curve included in the created continuous path is made smoother, it may be specified up to the third-order differential value for t. In this case, the function f (i, t) is obtained as a seventh-order function for t. Note that the function f (i, t) may be determined so as to perform weighting as described above using not only a high-order function but also a trigonometric function.

  FIG. 3 schematically shows a part of the function f (i, t) represented by Expression 8. The function f (i, t) shown in FIG. 3 takes a value of 0 at the start point (t = 0) of the section and 1 at the end point (t = 1) of the section, and the first-order differential value at these start points and end points. The second order differential value is determined to be zero.

Note that a function for moving a coordinate point included in the first coordinate point set among continuous coordinate points used to create a continuous path is represented by f (i, t) shown in FIG. The function for moving the coordinate points included in the second coordinate point set is represented by this function f (i, t) and a symmetric (line symmetric) function: 1-f (i, t). Become. By combining such a function f (i, t) and 1-f (i, t), the condition (1): “corresponding coordinate point of the target point A _t (X _t , Y _t ) The weight can be given so that the coordinate point having the greatest influence on the coordinate value and the order of the coordinate point away from the corresponding coordinate point has a smaller influence.

  FIG. 4 shows an example of the function f (i, t) thus determined. In this example, the range of t (0 to 1) in FIG. 3 is expanded to 0 to 10, and t = 0, 1, 2,. . . A function f (i, t) is obtained for each of 9.

Further, in the above example, the point _{A t (X t, Y t} ) shows the case where the obtaining of ten coordinate points, seek the point _{A t} the 10 coordinate points in the case of for example t = 3 Then, among the five coordinate points before and after the corresponding coordinate point a ₃ (x ₃ , y ₃ ) corresponding to the point A ₃ (X ₃ , Y ₃ ), the first coordinate point set (more than the corresponding coordinate point) It is not possible to select a part of the coordinate point set in the early order. In this case, only the coordinate points that can be selected (i.e., the coordinate points are three points earlier than the corresponding coordinate points a ₃ order, coordinate points late order of 5) be calculated coordinate value of the point A _t using good, it may be determined coordinate value of the point a _t by replacing the coordinate points missing the last coordinate point that can be selected. In this case, q (i, t) shown in the above equation 7 and p (i, t) shown in the equation 9 are expressed as the following equations 10 and 11.

・・・・・・式１０

・ ・ ・ ・ ・ ・ Formula 10

・・・・・・式１１

・ ・ ・ ・ ・ ・ Formula 11

By determining p (i, t) and q (i, t) in this way, points near the starting point (t <n / 2-1) and near the end point (N−n / 2 ≦ t) of the obtained route. coordinate values of _{a t (X t, Y t} ) can be determined.

Coordinates (X _{t, Y t)} of ten points A _t calculated by the coordinate point as described above and, as a continuous path 40 obtained on the basis of the discrete paths 30, along with the discrete paths 30 within the region 21 depicted This is shown in FIG. Thus, it can be seen that the continuous path 40 created by the path creation method according to the present invention has a smooth shape while maintaining the shape of the discrete path to some extent.

In the case of creating a continuous path using a function such as described above, The more by increasing the number of points for determining the coordinate values of the point A _t, is continuously obtained path is a smooth curve, the On the other hand, it is away from the shape of the discrete path. FIG. 6 shows the result of creating a continuous path obtained when the number of coordinate points is changed. In FIG. 6, a continuous path 41 obtained by six coordinate points is drawn by a solid line, a continuous path 40 obtained by ten coordinate points is drawn by a one-point chain, and drawn by a broken line. What is shown is a path 42 obtained by 14 coordinate points. As is clear from this figure, a route that keeps the shape of the discrete route stronger is created as the number of coordinate points used decreases, and a route that moves away from the shape of the discrete route as the number of coordinate points used increases. Is done.

  In addition, when a set of coordinate points for generating a discrete path exists on a grid point in a region where grid lines connecting grid points arranged at substantially constant intervals d are depicted, a set of coordinate points existing on the grid point is It is preferable that the distance between the discrete path generated by connection and the continuous path obtained from the discrete path is smaller than the distance d. For example, as shown in FIG. 7A, when a distance D between a discrete path obtained from a set of coordinate points and a continuous path obtained from the discrete path using the above-described function is determined, the distance D is as long as possible. It is better to keep it smaller than d. FIG. 7B shows a change in the value of the ratio (D / d) between the distance D and the distance d when the number of coordinate points used is changed. In this example, the distance D is the distance. It can be seen that the number of coordinate points that are smaller than d is 10 points.

Next, a continuous path for moving the moving body using the route creation method according to the present invention is created, and the moving body moving along the created continuous path will be described.
FIG. 8 schematically shows an embodiment in which the vehicle 50 as a moving body autonomously moves inside a limited area P (region surrounded by a broken line) on the floor 60 corresponding to the region 21. ing. In addition, objects are partially placed in the area P on the floor 60, and the vehicle 50 moves in the area P so as to avoid these objects. Details will be described below.

  As shown in FIG. 9, the vehicle 50 is an opposed two-wheel vehicle including a box-shaped vehicle main body 50 a, a pair of opposed wheels 51, 51, and casters 52, and these wheels 51, 51, The caster 52 supports the vehicle body 50a horizontally. Furthermore, inside the vehicle main body 50a, there are drive units (motors) 53 and 53 for driving the wheels 51 and 51, a counter 54 for detecting the rotation speed of the wheels, and a control signal for driving the wheels. A calculation unit 55 is provided that creates and transmits the control signal to the drive units 53 and 53. A program for controlling the moving speed, moving direction, moving distance, and the like of the vehicle 50 based on the control signal is recorded in a storage area 55a such as a memory as a storage unit provided in the calculation unit 55. In addition, a grid map created in advance for the area 21 is recorded. The moving speed, the moving distance, and the like described above are obtained based on the number of rotations of the wheels 51 and 51 detected by the counter 54.

  Further, an obstacle detection means 56 such as a camera for recognizing an obstacle appearing in the moving direction is fixed on the front surface of the vehicle main body 50a. The obstacle detection means 56 recognizes the obstacle recognized by the obstacle detection means 56. Information such as images and videos is input to the calculation unit 15. An antenna 57 for recognizing its own position is provided on the upper surface of the vehicle main body 50a. For example, position information from a GPS or the like (not shown) is received, and the calculation unit 55 analyzes the position information to The position can be accurately recognized on the grid map. As a result, the moving direction and speed of the vehicle are determined according to the program.

  Such a vehicle 50 detects the position of an object placed in the area P by the obstacle detection means 56 as the position of the obstacle. Then, when the positions of these objects are arranged on the map indicating the area P and the movement start point and the movement end point are specified, a continuous path that avoids these objects is created. At this time, on the map, the coordinate points that pass when moving are extracted around the place where the object is placed while avoiding the range included in the predetermined distance as the movement prohibited area. Then, after creating a discrete path by connecting the coordinate points in a predetermined order, a specific number of coordinate points are extracted from the coordinate points, and as described above, the coordinate values of the extracted coordinate points are obtained. Based on this, a continuous route is created from the discrete route, and this continuous route is set as a movement route.

  The vehicle 50 moves in the area P from the movement start point to the movement end point along the continuous path (movement path) thus created. Since the movement route is created so as to avoid the position of the object existing in the area P, the vehicle 50 can move from the movement start point to the movement end point while avoiding the obstacle in the area. Further, the created continuous route (movement route) has a smoothly created shape of a curve included in the route, so that the vehicle 50 moves smoothly.

  The obstacle detection means is not necessarily provided in the vehicle, and may be detected by a camera or the like provided outside the vehicle. Similarly, the position of the object obtained by the obstacle detection means in the area P, the arrangement of the object on the map in the area P, the generation of the discrete route, and the like are controlled by a control unit provided outside the vehicle ( For example, PC may be used. In such an embodiment, the vehicle moves along a continuous route (moving route) created by the control unit by receiving a movement signal for controlling the movement of the vehicle from a PC outside the vehicle. Will do. As described above, the present invention is also applied to a mobile body control system that specifies a route that the mobile body should move from a control unit provided outside the mobile body and transmits a movement signal to the mobile body. Can be suitably applied.

  As described above, the route creation method according to the present invention is effectively used in autonomous movement of a moving object. In addition, when such a route creation function is provided in the moving body, the moving body can easily move autonomously within the moving area. In addition, the moving unit can be arbitrarily moved within the moving region by transmitting a moving signal for specifying the moving route to which the moving body should move from the control unit provided outside the moving body. Can be made.

  In the above-described embodiment, the moving body that moves on the plane has been described. However, the present invention is not limited to this. For example, the route creation method according to the present invention can be used even for a mobile body that flies in the air (for example, a small helicopter or an industrial robot hand). That is, it is possible to control the movement based on a continuous path that keeps the shape of the discrete path obtained by a plurality of coordinate points specified in the space to some extent.

It is the schematic which shows a mode that the 47 coordinate point set is arrange | positioned on the coordinate plane used in order to demonstrate the route creation method which is 1st Embodiment of this invention. FIG. 3 is a schematic diagram showing a state where a specific coordinate point a ₉ in the coordinate point set shown in FIG. 1 is moved to a position A ₉ using the coordinate values of 10 coordinate points including the point a ₉ . is there. It is a graph which shows roughly a part of function f (i, t). The range (0-1) of t in FIG. 3 is expanded to 0-10, and t = 0, 1, 2,. . . 9 is a graph showing a function f (i, t) obtained for 9. Points represented by 10 sets of coordinates points _{A t (X t, Y t} ) to a schematic view showing a state in which depiction in the region as a continuous path obtained from a discrete path. It is the schematic which shows the continuous path | route obtained when the number of coordinate points is changed to 6, 10, and 14 points. It is a figure which shows a mode that the relative ratio of the grid space | interval d with respect to the distance D of the discrete path | route obtained by a coordinate point set and the continuous path | route obtained based on this discrete path | route was calculated by changing the number of coordinate points. It is the schematic which shows roughly embodiment which a vehicle moves autonomously inside the area P. FIG. 2 is a schematic view schematically showing the structure of a vehicle 50. FIG.

Explanation of symbols

21 ... Area 30 ... Discrete paths 40, 41, 42 ... Continuous path 50 ... Vehicle (moving body)
P ... Area

Claims (8)

A path creation method for creating a smooth continuous path from a discrete path generated by connecting a set of coordinate points of N coordinate points in a certain order in a multi-dimensional space of two or more dimensions,
When the continuous path is expressed using a parameter t (where t is an arbitrary real number satisfying t: 0 ≦ t ≦ N−1 and a value corresponding to a node of the discrete path), the coordinate values represented by points a _t as an arbitrary point included in the coordinate point set, the nearest integer-th coordinate point in t (hereinafter, referred to as the corresponding coordinate point) coordinates of the point a _t A path generation method characterized in that the calculation is performed based on the coordinate values of a plurality of consecutive coordinate points including the corresponding coordinate point so as to have the greatest influence on the coordinate value of. Wherein the coordinate values of a plurality of coordinate points, based on a function specified by the value of the parametric t, route generation method according to claim 1, characterized in that to calculate the coordinate value of the point A _t.   The route creation method according to claim 2, wherein the function is specified so that the influence of the coordinate points in the order away from the corresponding coordinate point is reduced among the plurality of coordinate points.   The plurality of coordinate points includes a first coordinate point set composed of n / 2 (n: an even number not exceeding 2N) consecutive coordinate points in an earlier order than the corresponding coordinate points, and the corresponding coordinate points. 4. A second coordinate point set composed of m / 2 (m: even number not exceeding 2N) consecutive coordinate points in a later order. Route creation method.   The number (n / 2) of the first coordinate point set is equal to the number (m / 2) of the second coordinate point set, and the total of these numbers is smaller than the number of coordinate points (N) of the coordinate point set. The route creation method according to claim 4. A moving body that moves in a multidimensional space of two or more dimensions, and moves from a movement start point specified in the multidimensional space to a movement end point specified in the multidimensional space,
N sets of coordinate points including the movement start point and movement end point in the multidimensional space are identified, and a route is created from these coordinate point sets using the route creation method according to 1 to 5,
A moving object characterized in that the created route is a moving route, and the moving region is moved based on the moving route. Based on each coordinate value of N coordinate points specified in the multidimensional space, and a movable body that can move in the multidimensional space, with a multidimensional space of two or more dimensions as a moving region A moving body control system comprising: a control unit that performs control so as to move;
After the control unit specifies a specific coordinate point among the N coordinate points as a movement start point and a movement end point in a multidimensional space, the route connecting the movement start point to the movement end point is determined as the N points. Using the route creation method according to claims 1 to 5 as a coordinate point set,
A moving body control system, wherein the created path is used as a moving path, and the moving body is controlled to move based on the moving path. The control unit identifies individual coordinate points in the multidimensional space, identifies specific coordinate points from these coordinate points as a movement start point and a movement end point in the multidimensional space, and from the movement start point to the movement end point A route creation unit that creates a route connecting the N coordinate points as a coordinate point set using the route creation method according to claim 1,
A movement signal transmission unit that generates a movement signal for moving the moving body along the route created by the path creation unit, and transmits the movement signal to the moving body,
8. The moving body control system according to claim 7, wherein the moving body moves in the multidimensional space so as to reach a movement end point from a movement start point in response to a movement signal from a control unit.

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