JP2010134742A - Movement control device having obstacle avoiding function - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device which allows a robust moving operation resistant to noise such as a dynamic change of environment while reducing the calculation load and ensuring smooth movement. <P>SOLUTION: The movement control device 13 having an obstacle avoiding function includes: a mobile body 1; detection means 14-17 provided on the mobile body 1 for detecting advancing direction of a mobile body; measuring means 9-12 provided on the mobile body 1 for measuring the position of an obstacle and an actual measurement distance to the obstacle, and outputting an azimuth angle of the obstacle to the mobile body advancing direction detected by the detection means 14-17; a pseudo distance generation means which changes the actual measurement distance according to the magnitude of the azimuth angle of the obstacle output by the measuring means 9-12 to generate a pseudo distance; and a control means which controls, based on the pseudo distance generated by the pseudo distance generation means, the motion of the mobile body 1 so that the mobile body 1 avoids the obstacle. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a movement control device having an obstacle avoidance function.

  Autonomous mobile objects such as robots that are active in a human-symbiotic environment have been actively developed. From the viewpoints of cost, power consumption, CPU resources, etc., it is not realistic to install algorithm software with a high calculation load on such a robot. In addition, it is impossible to completely create a moving environment like a transporting vehicle moving in a factory, and movement control that allows object displacement and other moving objects is required. On the other hand, there is a high demand for the robot to perform smooth, quick and efficient movement.

  Regarding the technology for moving a moving object while avoiding an obstacle, there is conventionally known a method for generating a moving object that finds a route having the shortest distance from a route that moves to a target point while avoiding an obstacle. (See Patent Document 1). This route generation method creates an environment temperature map, searches for each lattice point based on the temperature at each lattice point related to the obstacle constructed in the environment temperature map, and finds the shortest route connecting the starting point and the final target point. The moving object is moved to the final target point along this shortest path.

  In addition, a method for controlling a self-propelled moving body is known in which a moving path of a moving body is generated on the spot according to the movement of the obstacle and an appropriate avoidance action can be taken even when there is a dynamic obstacle. (See Patent Document 2). The method described in Patent Document 2 generates a stochastic potential field that represents the probability that an obstacle exists, adds a gradient toward the target position to the probability potential field, and adds the gradient to the slope of the probability potential field to which this gradient is attached. Based on this, the route toward the target position is searched, and the self-propelled moving body is moved along this route.

There has also been proposed an autonomous traveling robot that can prevent a hunting during traveling by allowing a given region to travel almost exhaustively in as short a time as possible (see Patent Document 3). The robot described in Patent Document 3 is provided with left and right obstacle sensors, performs a turning operation on the longer detection distance based on the distances to the obstacles detected by these sensors, and within a scheduled time after the turning operation. When an operation of turning in the opposite direction to the previous turning operation is required again, the turning angle is made smaller than that of the previous turning.
JP 2001-154706 A JP 2003-241836 A JP-A-10-228315

  However, in the route generation method described in Patent Document 1, the obstacle avoidance operation of the moving body based on the known route plan using the map is very weak to noise. Noise is an obstacle that is not registered in the map, a deviation between an ideal value (map information) and a real value, and a dead reckoning error. In the technique described in Patent Document 1, it is difficult to control the moving body whose position changes irregularly every moment.

  In the method for controlling a self-propelled moving body described in Patent Document 2, a force field for generating a virtual repulsive force or an attractive force is defined between the moving body and an obstacle or a moving target, and the moving body is determined from the resultant force of these forces. This is a potential method for determining the direction of travel. With this control method, it is difficult to handle complex terrain and many obstacles. In order to increase the accuracy of the route, it is necessary to make the mesh of the grid map for registering the obstacle fine, and the calculation cost increases explosively.

  The autonomous traveling robot described in Patent Document 3 uses a method of directly connecting sensor information to a movement command. In this autonomous traveling robot, it is difficult to give a detailed operation command to the robot, and the robot tends to perform a rough and monotonous operation. It is difficult to achieve smooth and efficient operation.

  Therefore, in view of the above-described problems, the present invention provides a movement control device having an obstacle avoidance function that has a low computational load, a smooth movement, and a robust movement operation that is resistant to noise such as dynamic changes in the environment. For the purpose.

  In order to solve such a problem, according to one aspect of the present invention, a moving body, detection means provided on the moving body and detecting a moving body traveling direction, provided on the moving body, Measuring means for measuring the position and the actual measurement distance to the obstacle, and outputting the azimuth angle of the obstacle with respect to the moving body traveling azimuth detected by the detecting means, and the orientation of the obstacle outputted by the measuring means A pseudo distance generating unit that generates a pseudo distance by changing the actual measurement distance according to the size of the corner, and the moving body avoids the obstacle based on the pseudo distance generated by the pseudo distance generating unit. There is provided a movement control apparatus having an obstacle avoidance function, characterized by comprising a control means for controlling the operation of the moving body.

  According to another aspect of the present invention, a recording unit capable of storing and updating external environment information related to a moving space, and an appropriate destination to the destination based on the external environment information recorded in the recording unit. A route generating means capable of generating a route, a moving speed output generating means for generating a speed output command value that follows the route generated by the route generating means, and the speed output generated by the moving speed output generating means There is provided a movement control device having an obstacle avoidance function, comprising: a pseudo-range generation means according to claim 1 that performs speed output correction on a command value.

  According to the present invention, it is possible to generate a smooth avoidance trajectory that suppresses unnecessary avoidance operations while greatly reducing the calculation load. In addition, it is possible to realize an avoidance operation corresponding to a dynamic environment that changes every moment.

  Hereinafter, a movement control device having an obstacle avoidance function according to an embodiment of the present invention will be described with reference to FIGS. In the drawings, the same portions are denoted by the same reference numerals, and redundant description is omitted.

  A movement control device having an obstacle avoidance function according to an embodiment of the present invention is mounted on an independent two-wheel drive mobile robot. FIG. 1A is a top view of the mobile robot, and FIG. 1B is a front view of the mobile robot as viewed from the direction of arrow J in FIG. In these drawings, elements having the same reference numerals represent the same elements.

  The robot 1 includes a base 2 and a pair of drive wheels 3 and 4 that are coaxially disposed on both left and right sides of the base 2 in parallel with each other and can be driven independently of each other. A pair of motors 5 and 6 that rotate the drive wheels 3 and 4, a front caster 7 attached to the front center portion of the base 2, and a rear caster attached to the rear center portion of the base 2. 8 and four laser range finders (LRF) 9-12 provided at the four corners of the upper surface of the base 2 for measuring the distance to the object to be measured, and the rotational drive of the motors 5 and 6 provided on the base 2 And a controller unit 13 (movement control device having an obstacle avoidance function according to the present embodiment) that performs control independently. For the controller unit 13, a CPU, a ROM, and a RAM are used.

  Further, the robot 1 includes a pair of rotation angle sensors 14 and 15 provided on the shafts of the drive wheels 3 and 4, a position sensor 16 for detecting the translational movement amount of the base 2, and the vertical axis of the base 2. And a posture sensor 17 for detecting a surrounding turning angle. A potentiometer or a rotary encoder is used for the rotation angle sensors 14 and 15. An inertial sensor is used as the position sensor 16. The attitude sensor 17 is a gyro sensor that detects an angular velocity around the vertical axis. The sensor values of the rotation angle sensors 14 and 15, the sensor value of the position sensor 16, and the sensor value of the attitude sensor 17 are all input to the controller unit 13.

  The base 2 is a rectangular flat plate. The motors 5 and 6 are fixed to the base 2 and are connected to the drive wheels 3 and 4 via respective motor shafts. The drive wheels 3 and 4 are rotatable in the forward and reverse directions with the wheel surfaces of the drive wheels 3 and 4 being parallel to each other. The base 2 is held horizontally at a height determined by the wheel diameter from the floor surface by the drive wheels 3 and 4 and the front casters 7 and the rear casters 8. By the drive control for the motors 5 and 6 by the controller unit 13, the rotational speed of the drive wheels 3 and the rotational speed of the drive wheels 4 are made the same or different from each other. By driving and controlling the motors 5 and 6, the robot 1 can run and turn. By controlling each rotation direction and each rotation speed of the motors 5 and 6, the robot 1 can move on the floor surface.

  The laser range finder 9-12 is a plane scanning type distance measuring means. Each of the laser range finders 9-12 includes a laser light source (not shown), a laser light reflector having a rotation axis and a polygon mirror provided on the outer peripheral surface, a drive motor for rotating the laser light reflector, and modulating the laser light. Modulation means, a light receiver that receives the laser light reflected by the object to be measured, an electronic circuit unit, and a housing that houses these laser light sources and the like. In accordance with the rotation angle of the motor shaft of the drive motor, scanning light for scanning the scanning space outside the housing is generated from the laser light. The laser light source and the modulation means irradiate the object to be measured, such as an obstacle or a target object, with pulsed laser light, the light receiver receives the reflected light reflected by the object to be measured, and the electronic circuit unit emits the modulated light. Information on the distance between the robot 1 and the object to be measured is output from the transmitted time and the time when the reflected light returns.

  The laser range finder 9 measures the distance to the object existing in front of the base 2 and the reflection intensity of the reflected light from the object for each angle step, and shows the distance calculated from the measurement result of the reflected light intensity. Do not store in memory. This memory stores a distance value for each angle. The distance value for each angle can be updated and corrected. The configuration of the laser range finder 10-12 is the same as the configuration of the laser range finder 9. The laser range finder 9-12 is arranged so that it can scan all directions around the robot 1 without blind spots.

  FIG. 2 is a diagram showing a measurable area of the laser range finder 9-12. The controller unit 13 controls the laser range finder 9-12 so that the laser range finder 9-12 scans the space around the robot 1. The transmission direction of the laser light from each laser light source is parallel to the floor surface. The sensitivity of the light receivers in these laser range finders 9-12 is set in a substantially horizontal direction. Each laser range finder 9-12 provided at each of the four corners of the base 2 scans the laser range finder measurable area 18 having a top view fan shape.

  The controller unit 13 generates a distance image of the external environment including an obstacle on the floor surface based on the distance value for each angle output from the four laser range finders 9-12. The controller unit 13 detects whether or not an obstacle is present in all 360 ° directions of the robot 1.

  The controller unit 13 controls the angular velocity and angular acceleration of the motors 5 and 6. When the controller unit 13 detects that an obstacle exists around the robot 1, the controller unit 13 performs a calculation process for avoiding the obstacle as described later. The controller unit 13 calculates the translational movement amount and the turning amount of the robot 1 based on information from the sensors, and generates target values for the angular velocity and angular acceleration of the motor 5 and target values for the angular velocity and angular acceleration of the motor 6. To do. The controller unit 13 performs current control on drivers (not shown) of the motors 5 and 6 from the generated target values of the rotation amounts of the motors 5 and 6.

  FIG. 3 is a block diagram of the controller unit 13. The controller unit 13 generates a route on which the robot 1 should travel, and the target position and vertical position of the base 2 in the x and y coordinate systems for each control period based on the output from the route generator 19. A target trajectory generation unit 20 that generates a target rotational position around the axis, and a calculation unit that compares the output from the target trajectory generation unit 20 and sensor values from sensors attached to the base 2 and outputs the calculated result 21 and a robot movement speed command value generation unit 22 that calculates a target value for the translational speed and a target value for the turning speed of the base 2 so as to fill in the difference between the calculation results output from the calculation unit 21.

The route generation unit 19 creates an obstacle map as shown in FIG. The target trajectory generation unit 20 generates and outputs robot target positions x _r [m] and y _r [m] and robot target posture θ [rad] in each control cycle. The computing unit 21 compares these x _r , y _r and θ with the current positions x [m] and y [m] from the sensors. The robot movement speed command value generation unit 22 generates and outputs the translation speed target value V _r [m / s] and the turning speed target value ω _r [m / s] based on the comparison result from the calculation unit 21.

  Further, the controller unit 13 corrects the output from the robot movement speed command value generation unit 22 and the obstacle avoidance speed command value correction unit 23 for correcting the output of each axis based on the output from the obstacle avoidance speed command value correction unit 23. Axle rotation speed command value generation unit 24 that generates and outputs a target value of the rotation speed, and outputs a result of comparison calculation of the output from the axle rotation speed command value generation unit 24 and the sensor values from the sensors of the base 2 A calculation unit 25 that performs the calculation, a motor control current command value generation unit 26 that generates a target value of a current to be supplied to the motors 5 and 6 based on a calculation result output from the calculation unit 25, and a robot body 27. The robot body 27 includes drive wheels 3 and 4, rotation angle sensors 14 and 15, a position sensor 16, and a posture sensor 17.

Obstacle avoidance velocity command value correcting portion 23 outputs the corrected translational velocity target value V _r '[m / s] by correcting the translational velocity target value V _r. Obstacle avoidance velocity command value correcting portion 23 outputs the correction rotation speed target value ω _r '[m / s] by correcting the rotation speed target value omega _r. The axle rotation speed command value generation unit 24 generates and outputs each axis rotation speed target value φ _nr [rad / s]. The motor control current command value generation unit 26 outputs each axis motor current command value i _nr [A]. Each axis motor current command value i _nr is substantially equal to the voltage command value V _n [V] to the motor driver.

  The robot 1 is a moving body. The robot 1 has moving means and driving means for operating the moving means. The moving means are driving wheels 3 and 4, and the driving means are motors 5 and 6. The controller unit 13 is a movement control device having an obstacle avoidance function according to this embodiment. The obstacle avoidance control method is a control method related to this moving object. The controller unit 13 performs a higher level process of setting a target point. The target point is set in accordance with the rules of the superordinate concept that the mobile object has. The moving body includes an autonomous moving body such as the robot 1 that generates a translation speed command value and a turning speed command value for reaching a target point. Alternatively, the moving body includes a semi-autonomous moving body that operates the driving means so as to realize the command value using an external input as a command value, such as an assist cart. In addition, the moving body has a recognition means capable of recognizing the arrangement state of objects around the moving body, thereby making it possible to know obstacle information in all directions around the moving body.

  Here, a mobile robot as shown in FIG. 1 is used as a representative example. The robot 1 is an independent two-wheel drive system having left and right drive wheels 3 and 4 driven by motors 5 and 6. The straight and turning motions are determined by the amount of rotation of these two wheels. Further, a plurality of, for example, four laser range finders 9-12 are arranged in the robot 1 without blind spots as shown in FIG. 2, and the distance to the obstacles in all directions can be measured with high accuracy along with the directions. . Obstacle information such as the measured azimuth and distance is immediately updated in the memory, and the updated obstacle information is reflected in the control.

  In FIG. 2, the distance direction measured by the laser range finder 9-12 is drawn only halfway, but actually it is possible to measure farther. The direction in which the laser range finder 9-12 alone can be measured is not particularly specified in the example of FIG. 2, and the number of laser range finder mounted is not particularly limited to the number in FIG. The movement method of the robot 1 is not limited to the independent two-wheel drive system of this example, and it is sufficient that at least the movement direction and the movement amount of the robot 1 itself can be arbitrarily specified without distinction between holonomic and nonholonomic. For example, a steering system, an omnidirectional vehicle driven by four wheels, or a moving means other than wheels such as bipedal walking may be used.

  Also, the sensor system is not particularly limited to the laser range finder system of this example, but a sensor having a different arrangement position, a directional ultrasonic sensor or a PSD (Position Sensitive Detector) sensor is used. Also good. The PSD sensor has a light receiving surface, a PSD element that outputs a pair of output signals that change differentially according to the position of a beam spot incident on the light receiving surface, and a distance from the light position detected by the PSD element. And calculating means for calculating. Alternatively, the sensor information may be aggregated once on a map in which information around the robot 1 is recorded in advance, and the situation around the robot 1 may be read in a pseudo manner from this map at each control period. Furthermore, the obstacle arrangement may be registered in real time and deleted from an external system such as an environmental camera and other robots in this map while synchronizing the position.

  The controller unit 13 in this example performs a process of integrating distance information obtained from each of the laser range finders 9-12 arranged as shown in FIG. The controller unit 13 integrates and manages each distance information on a map represented by one coordinate system based on known geometric arrangement information. From this obstacle map information, the distance to the nearest obstacle among the obstacles existing within the designated angle range in the designated direction of the robot 1 can be obtained.

  The sampling rate of the laser range finder 9-12 as a sensor is prepared so as to be sufficiently fast so that a relative change can be continuously captured with respect to the movement of the robot 1 itself and the dynamic change of the outside world caused by other moving objects. . As for the resolution of the specified angle minimum range, an appropriate resolution is set such that a relative position change of an external obstacle present within a specified distance can be continuously captured. Here, “continuous” means that after the step of measuring the position of the object, the observation object exists within a specified distance range from the position measured last time in the next step of measurement. Since the resolution value changes depending on the application, it is not uniquely determined.

  FIG. 4 is a diagram illustrating an example of an obstacle map created by the controller unit 13. In the figure, elements having the same reference numerals as those described above represent the same elements. 28 to 32 all represent obstacles or objects. Reference numeral 33 denotes a moving body traveling direction. The orientation of the obstacle 29 as viewed from the robot 1 is the measurement designated orientation. The angle φ formed by the moving body traveling direction and the measurement designated direction is the direction φ with respect to the front direction which is the reference direction. Reference numeral 57 denotes the position of an obstacle existing at the shortest distance in the measurement designated direction.

  In this example, the obstacle map is expressed in polar coordinates by the azimuth φ designated as the measurement designated azimuth and the shortest distance r in the direction in the relative coordinate system centering on the robot 1 as shown in FIG. For the obstacle map, notation using coordinates other than polar coordinates or absolute coordinates may be used. In this example, the reference direction of the azimuth φ is the front of the robot, and the counterclockwise direction is positive. The reference direction and the turning direction are not particularly limited to the front of the robot or the counterclockwise direction.

The relationship between the actual measurement distance and the pseudo distance on the obstacle map is shown in FIGS. FIG. 5 is a diagram illustrating the concept of the pseudo distance when the moving body moves forward. Reference numeral 34 denotes an actual position of an obstacle or an object. Reference numeral 35 denotes an obstacle or a pseudo position of the object. The laser range finder 9 measures the distance between the robot 1 and the actual obstacle position 34 and acquires the actual measurement distance r. The laser range finder 9 acquires an angle θ ₁ formed by the moving body traveling direction and the measurement designated direction. The controller unit 13 replaces the actual obstacle position 34 with the pseudo obstacle position 35 on the obstacle map by performing a process of replacing the actual measurement distance r with the pseudo distance r ′. The replacement process refers to calculating r ′ = f (r, θ ₁ ) using the function f. The CPU reads a program describing the calculation procedure of the function f from the ROM, and executes this calculation procedure using the RAM.

FIG. 6 shows an example when the robot 1 moves backward. The laser range finder 9 measures the distance between the robot 1 and the actual obstacle position 34 and acquires the actual measurement distance r. The laser range finder 9 acquires an angle θ ₂ formed by the moving body traveling direction and the measurement designated direction. The magnitude of this angle θ ₂ is larger than the angle θ _{1 in} the example of FIG. The controller unit 13 calculates r ′ = f (r, θ ₂ ) to replace the actual obstacle position 34 with the pseudo obstacle position 36 on the obstacle map.

That is, in the present invention, as shown in FIG. 5, the controller unit 13 determines that the distance value in the measurement designated direction is a true measured value (hereinafter “true”) according to the magnitude of the angle θ ₁ formed by the moving body traveling direction and the measurement designated direction. Use pseudoranges that vary from the value ")". When the robot 1 is moving forward by the independent two-wheel drive system in this example, the moving body traveling direction and the measurement azimuth reference direction coincide with each other. In this case, θ ₁ = φ. When the robot 1 moves backward, the angular relationship between the moving body traveling direction and the measurement designation direction is as shown in FIG.

FIG. 7 is a diagram for explaining the relationship between the angle θ and the pseudo distance r _n ′. 58 represents a pseudorange. 59 is the true distance. In this example, as shown in FIG. 7, the controller unit 13 is configured so that the pseudo distance r ′ takes a value larger than the true value r as the angle θ _n formed by the moving body traveling direction and the measurement designated direction increases. The calculation procedure of the function f is executed. As the angle θ _n increases, the amount by which the pseudorange deviates from the true value increases.

  FIG. 8 is a conceptual diagram of a pseudo obstacle map in which the obstacle position in the surrounding environment is changed by switching between the forward and backward traveling directions at the same point. 8A is an example of a pseudo obstacle map when the robot 1 moves forward, and FIG. 8B is a time when the robot 1 moves backward at the same point as the point of the robot 1 in FIG. 8A. It is an example of a pseudo obstacle map. FIG. 9 is a conceptual diagram of a pseudo obstacle map in which the obstacle position in the surrounding environment changes due to the movement of the robot 1 after the posture change. FIG. 9A is an example of a pseudo obstacle map when the robot 1 moves forward after the posture is changed, and FIG. 9B is a posture at the same point as the point of the robot 1 in FIG. It is an example of the pseudo obstacle map when the robot 1 after the change moves backward. Reference numerals 37 to 40 denote obstacles or objects. Reference numeral 60 denotes a pseudo position, which represents an obstacle position on the pseudo obstacle map. 61 is the true position.

  Here, a pseudo obstacle map (hereinafter referred to as an obstacle map) displaying obstacle positions in the surrounding environment of the robot 1 formed by the pseudo distance is represented by FIGS. 8A and 8B. Even at the same point, there is a feature that the situation changes instantaneously by switching between forward and reverse movements. 9A and 9B, even if the robot 1 is an independent two-wheel drive system, the robot 1 performs a turning motion on the spot, and the robot 1 on the absolute coordinate system. When the front direction of the vehicle (hereinafter referred to as “posture”) is changed, the obstacle map obtained during the subsequent forward / backward movement is different from the previous one.

  The moving body may use a moving system different from this example. An omnidirectional vehicle may be used as the moving body. An omnidirectional vehicle is a moving mechanism having moving means capable of generating a speed output in an arbitrary direction at an arbitrary timing. FIG. 10 shows an obstacle map when an omnidirectional vehicle is used as the moving body. FIGS. 10 (a) to 10 (d) show pseudo obstacle maps in which the obstacle position in the surrounding environment changes due to switching of the movement direction in the same posture state of the omnidirectional vehicle 1A. Circles with diagonal lines represent obstacle positions on the pseudo obstacle map. The white circle represents the true position.

  An omnidirectional vehicle 1A includes a base 2A, drive wheels 41 pivotally supported at four locations on the front, rear, left and right of the base 2A, and an obstacle according to the present embodiment (not shown) provided on the base 2A. A movement control device having an avoidance function. Elements having the same reference numerals as those described above with reference numerals other than these represent the same elements. Specifically, FIG. 10A is a pseudo obstacle map when the omnidirectional vehicle 1A moves forward, and FIG. 10B is a pseudo obstacle map when the vehicle travels backward at the same point. FIG. 10C is a pseudo obstacle map when the omnidirectional mobile vehicle 1A moves forward after the posture change, and FIG. 10D is a pseudo obstacle map when the omnidirectional mobile vehicle 1A moves backward after the posture change at the same point. It is an obstacle map. As shown in FIG. 10, the surrounding environment state represented by the obstacle map according to the movement command direction outputs different results even if the same posture is given at the same point. The movement control device of the omnidirectional vehicle 1 </ b> A is the same as the controller unit 13 of the robot 1.

Hereinafter, a pseudo distance generation process performed by the controller unit 13 mounted on the robot 1 will be described. Here, the “action” for converting the true value r into the pseudo distance r ′ corresponding to the obstacle measurement azimuth angle θ is referred to as a pseudo distance “conversion”. In this example, the pseudo distance is generated by applying the pseudo distance conversion as shown in (Expression 1).

  Here, l, m, and n are arbitrary real numbers, k is a real number of 0 <k <2, and the controller unit 13 is a pseudo set with (k = 1, l = 1, m = 2, n = 1) as one set. The distance is generated. The controller unit 13 outputs the same value as the true distance value for the pseudo distance value located in the same direction as the traveling direction (that is, the front direction in the independent two-wheel drive system). The controller unit 13 outputs a distance that is twice the true distance value for the pseudo distance value that is located in the direction transverse to the traveling direction. For the value of the pseudo distance located in the desired direction within the range between the traveling direction (direction where θ is 0 degrees) and the lateral direction (direction where θ is 90 degrees), the controller unit 13 The value obtained by substituting is output. That is, the transition between these two directions transitions in a cosine function. In addition, the controller unit 13 excludes obstacles existing in the direction rearward of the right lateral direction from the considerations for obstacle avoidance by setting the rear in which θ is larger than the right lateral direction to infinity. I am doing so.

  Further, the controller unit 13 may set the pseudo distance value in the front direction to a value different from the true value. When changing the value of the pseudo distance in the front direction from the true value, the controller unit 13 changes the value of l. The controller unit 13 changes the value of m when changing the maximum value excluding infinity. The controller unit 13 may change the value of n when changing the transition shape of the cosine function from the value set for the front direction to the maximum value. Further, the controller unit 13 can change the position of the angle α at which the pseudo distance is the maximum point (excluding infinity) from the side by changing the value of k. However, (Formula 1) presented in this example is merely an example, and the controller unit 13 may set the obstacle distance behind the traveling direction to a finite value without setting the distance to infinity. Furthermore, the controller unit 13 has no problem designing the pseudorange transform using other functions, which are within the scope of the claimed invention.

  The robot 1 refers to the pseudo distance r ′ and corrects the movement operation command generated when the surrounding environment is not yet considered. Hereinafter, this correction processing is referred to as obstacle avoidance, and the corrected movement operation is referred to as obstacle avoidance operation.

  In the obstacle avoiding operation, the robot 1 refers to a plurality of pseudo distances about obstacles existing around the robot 1 itself, and uses the shortest pseudo distance among these pseudo distances as an input. FIG. 11 is a diagram for explaining a method in which the controller unit 13 determines the position of an obstacle to be avoided. In the figure, obstacles (objects) 42 to 44 exist around the robot 1, and the controller unit 13 generates a plurality of obstacle positions in advance on the pseudo obstacle map. The hatched circle represents the obstacle position. The white circle represents the true position. The controller unit 13 compares the pseudo distances between these obstacle positions and searches for the obstacle position having the shortest pseudo path. When the controller unit 13 determines an obstacle position to which 45 of a plurality of obstacle positions is attached, the controller unit 13 determines the obstacle position 45 as an avoidance target obstacle position. That is, as shown in FIG. 11, the controller unit 13 performs a process in which the azimuth having the shortest pseudo distance 46 and the position pointed to by the pseudo distance are set as the avoidance target obstacle positions. This point is called an obstacle to be avoided.

  In the conventional obstacle avoidance technique, when the controller generates the avoidance trajectory, the controller has to consider two components, the distance to the obstacle and its direction. However, since the obstacle avoidance control method according to the present embodiment also includes the effect brought about by the direction component in the pseudo distance, the controller unit 13 in the track generation work after the map generation except the special processing is the controller unit. 13 basically only needs to refer to the pseudorange.

  The robot 1 shown in this example is configured to output two components, that is, a speed output direction and an amount of speed for avoiding an obstacle by using a pseudo distance as an input. In the potential method of the conventional example, the controller obtains the intensity and its gradient from one potential function, and applies these intensity and gradient to the velocity amount and the velocity output direction. On the other hand, the controller unit 13 uses two independent generation functions when calculating the values of the two components. In the following description, each of these two independent generation functions is called a velocity direction potential and a velocity quantity potential. Here, the term “potential” is used for convenience, and the derivative does not have a special meaning like a general potential function.

  The velocity direction potential will be described with reference to FIGS. FIG. 12 is a diagram showing an example of the velocity direction potential. The horizontal axis is the pseudo distance r ′, and the vertical axis is the translational speed output allowable azimuth angle ξ. The controller unit 13 generates in advance a velocity direction potential having a shape as shown in FIG. 12 and stores it in a memory (storage means) in the controller unit 13. The controller unit 13 executes a process for acquiring each value of the horizontal axis and the vertical axis in advance to generate a velocity direction potential.

  The translational speed output allowable azimuth angle here will be further described with reference to FIGS. FIG. 13 is a diagram illustrating a relationship between the translational speed output allowable direction and the avoidance target obstacle direction. The avoidance target obstacle direction 47 is a direction in which the avoidance target obstacle 48 exists. The translational speed output allowable direction is represented by 49 in FIG. The translation speed output allowable direction 49 indicates a limit direction of the movement speed output that can be directed to the avoidance target obstacle direction 47. The angle ξ formed by the moving object reference position 50 (here, the center of gravity of the robot projected on the moving plane) as a vertex and the avoidance target obstacle direction 47 and the translation speed output allowable direction 49 is referred to as a translation speed output allowable direction angle. And This translation speed output allowable direction 49 is basically developed from the avoidance target obstacle direction 47 toward the movement speed output direction.

  Further, the angle ξ formed by the avoidance target obstacle direction 47 and the translational speed output allowable direction 49 in FIG. 13 can take a range from 0 to π / 2. The controller unit 13 outputs the moving speed in an arbitrary direction when ξ is zero. On the other hand, as the value of ξ increases, the controller unit 13 limits the movement speed output in the avoidance target obstacle direction 47. Since the controller unit 13 places a limit, when ξ becomes π / 2, the controller unit 13 outputs speed only in a direction perpendicular to the avoidance target obstacle direction 47 or in a direction away from the avoidance target obstacle 48. .

  FIG. 14 is a diagram for explaining the correction process of the moving direction of the moving body in the output direction. If the moving speed output direction 51 exists between the avoidance target obstacle direction 52 and the translation speed output allowable direction 53 as shown in FIG. 14, the robot 1 corrects the moving speed output direction 51 to the translation speed output allowable direction 53. I am trying to change it.

As can be seen from the velocity azimuth potential in FIG. 11, when the pseudo distance r ′ is greater than or equal to a certain value r _max (first threshold), the controller unit 13 sets the value of the translation velocity output allowable azimuth angle ξ to zero. The controller unit 13 does not place any special restrictions on the speed output direction. Characteristics of the velocity azimuth potential restricted by the controller unit 13, the pseudo distance r 'When is below r _max increases the value of the gradual xi], pseudorange r' value r _min (second threshold value) there is the following xi] Takes a shape that saturates to π / 2. Here, the value of r _{max is} a value that defines the avoidance start distance “how much the robot 1 can approach in the direction of the obstacle without avoiding”. The value of r _{min is} a value that defines a limit approach distance “how far the worst distance the robot 1 can allow to approach an obstacle”.

  For a moving body that can generate an arbitrary translational movement speed at an arbitrary time, such as the omnidirectional vehicle 1A, the controller unit 13 performs a process of setting its own movement speed output in the corrected movement speed output direction. Just do it. When the moving body is an independent two-wheel drive type as in this example, the operation of this moving body is a non-holonomic movement restraint condition, so the controller unit 13 generates a moving speed in the corrected moving speed output direction. Can not do it. In such a case, the controller unit 13 changes the posture of the moving body, and turns the robot 1 so that the output direction of the moving speed is directed to the correction processing direction. The controller unit 13 executes a rotation operation correction process so that an axle rotation speed for turning is generated.

  Further, the speed azimuth potential referred to by the controller unit 13 has a characteristic that the relationship between the pseudo distance and the translational speed output allowable azimuth angle ξ varies according to the moving speed of the moving body as shown in FIG. FIG. 15 is a diagram illustrating an example of a velocity direction potential having a different potential shape according to the moving speed of the moving body. This speed direction potential is stored in the memory of the controller unit 13. Reference numeral 54 denotes a velocity direction potential applied when the moving speed of the moving body is high. Reference numeral 55 denotes a speed direction potential applied when the moving speed of the moving body is low. 56 represents a normal velocity direction potential.

The velocity azimuth potential 54 has a potential shape in which the minimum pseudo distance r _min and the maximum pseudo distance r _max are larger than the minimum pseudo distance and the maximum pseudo distance of the normal velocity azimuth potential, respectively. The velocity direction potential 55 has a potential shape in which the minimum pseudo distance r _min and the maximum pseudo distance r _max are respectively smaller than the minimum pseudo distance and the maximum pseudo distance of the normal speed direction potential. The controller unit 13 creates these speed direction potentials 54 and 55 in advance and sets them in the memory. As a result, when the designated movement speed is fast, it is possible to improve safety by gradually performing avoidance operation from a position as far away as possible from the obstacle, and when the designated movement speed is slow, a certain degree of obstacle from the viewpoint of safety The approach to the object is allowed, and it can be moved along the designated trajectory accordingly. In addition, a limit value is provided for the range of change between the minimum pseudo distance r _min and the maximum pseudo distance r _max during high speed movement and low speed movement, and the controller unit 13 performs processing that saturates at a certain level. You may do it.

  When the moving speed output direction exists between the obstacle direction to be avoided and the translation speed output allowable direction, the controller unit 13 changes the movement speed output direction in principle toward the translation speed output allowable direction. For this reason, speed change and posture change that the movement speed output is directed toward the obstacle to be avoided are prohibited. Even if the moving speed output direction exists outside the direction between the obstacle target obstacle direction and the translation speed output allowable direction, if the moving speed output direction exists in the vicinity of the translation speed output allowable direction, the controller unit 13 moves. Speed change and posture change that prohibit the speed output direction toward the obstacle to be avoided are prohibited. As a result, chattering-like vibration operation for moving speed output and posture change across the translation speed output allowable direction is suppressed.

  The above is an explanation of the velocity direction potential. Hereinafter, the velocity amount potential will be described with reference to FIG. FIG. 16 is a diagram illustrating an example of the velocity amount potential. The horizontal axis is the pseudorange. The vertical axis represents the speed tolerance γ (0 ≦ γ ≦ 1). The speed tolerance is calculated by dividing the maximum translation speed that the mobile unit can finally output in the state limited by the speed quantity potential by the maximum translation speed that the mobile unit can output without any obstacles. This is the ratio obtained. This ratio is determined according to the pseudorange and the size of the moving body itself. The maximum speed that can be finally output by the robot 1 that is a moving body is obtained by multiplying this ratio by the maximum speed that the robot 1 can output. Here, the value restricted by the obstacle distance is the “maximum value” of the allowable output speed, and the output speed is not directly restricted. For this reason, when the command value of the speed output is smaller than the maximum speed value that can be finally output, the speed of the commanded value is output without any correction. Even if the command value for speed output is smaller than the maximum speed value that can be output, if it is larger than the maximum speed value that can be finally output, the output at this time is the maximum speed that can be finally output. Limited to value.

The controller unit 13 executes processing for acquiring each value of the horizontal axis and the vertical axis in advance, generates a speed amount potential, and stores it in the memory. The speed allowable rate γ here is expressed as (Equation 2).

The speed allowable rate γ has an operational effect of converting the allowable maximum moving speed amount v _max into v _max ′. The allowable maximum moving speed amount v _max ′ after conversion is referred to as a conversion allowable maximum moving speed amount. When the translational movement target speed amount | v _r | of the moving body is equal to or less than the maximum allowable movement speed amount, the controller unit 13 does not generate any special processing. If the translational movement target speed amount | v _r | exceeds the conversion allowable maximum movement speed quantity, the controller unit 13 compresses and corrects the translational movement target speed until the scalar quantity becomes v _max ′. Here, the corrected translational movement target speed is referred to as a corrected translational movement target speed v _r ′, and is expressed as (Equation 3).

As can be seen from FIG. 16, the speed allowable rate γ is 1 when the pseudorange r ′ is large. When the pseudo distance r ′ is equal to or smaller than the threshold value r _{v max} (third threshold value), the speed allowable rate γ tends to decrease as the pseudo distance r ′ decreases, and when the pseudo distance r ′ is equal to or smaller than the threshold value r _{v min} (fourth threshold value), the speed is decreased. The allowable rate γ is zero. The contents of the processing of the controller unit 13 based on the speed amount potential are as follows. When the moving body is not on the collision course against the obstacle, that is, when the moving body is moving out of the avoidance operation target, the controller unit 13 Continue to output any speed without restriction. When the obstacle to be avoided is close to the moving body, the controller unit 13 limits the maximum speed. Eventually, the controller unit 13 completely cuts off the output of the translation speed so that the moving body does not approach within a certain distance expressed by the threshold value r _{v min} . This makes it possible to prevent a collision with an obstacle. Further, if the controller unit 13 changes the speed output direction or the attitude angle, the pseudo distance also changes accordingly, and the speed allowable rate γ changes accordingly. Therefore, the mobile body is again enabled for translational speed output. The

In this example, the velocity azimuth potential and the velocity quantity potential are expressed by straight lines, but these are only examples for realizing the present invention described in the claims. There is no problem in designing a potential function having a shape other than this example using other functions such as trigonometric functions and higher order functions having r _min and r _max as inflection points. Is within the scope of the invention as defined in the claims.

  By performing the above processing, the controller unit 13 corrects the translational movement speed amount of the moving body and the speed output direction or attitude angular speed of the moving body according to the position and distance of the obstacle. As a result, it is possible to generate a speed output that avoids an obstacle present on the moving path of the moving body.

  With the above-described configuration, the controller unit 13 performs an obstacle avoidance speed correction process. FIG. 17 is a flowchart of the obstacle avoidance speed correction process by the controller unit 13. The controller unit 13 executes the control operation for each servo cycle of the rotation control of the motor shafts of the motors 5 and 6 with the motors 5 and 6 being controlled.

  In step A1, which is a process before the presence of an obstacle is considered, the controller unit 13 receives the translation speed command value V and the turning speed command value ω. In step A2, the controller unit 13 searches for the shortest pseudo-range obstacle with respect to the translation speed command value direction. While the obstacle is not detected by the laser range finder 9-12, the controller unit 13 performs the process of step A1 through the Y route. When an obstacle is detected by any of the laser range finders 9-12, the controller unit 13 calculates a translational speed output allowable direction in step A3 through the N route.

  Subsequently, in step A4, the controller unit 13 determines whether the direction of the translation speed command value v exists between the avoidance target obstacle direction and the translation speed output allowable direction. If it is determined that the controller unit 13 exists, it is determined whether the speed can be output in the translational speed output allowable direction in the current posture state through the Y route in Step A5. If the controller unit 13 determines that the output is possible in step A5, the Y route is passed. In step A6, the controller unit 13 sets the speed value so that the translation speed command value v is in the translation speed allowable direction. Correct to the value v '.

  Subsequently, in step A7, the controller unit 13 searches for the shortest pseudo-range obstacle with respect to the corrected translational speed command value direction. In step A8, the controller unit 13 calculates a conversion allowable maximum moving speed amount. In Step A9, the controller unit 13 determines whether or not the translational movement speed amount of the moving body is larger than the conversion allowable maximum movement speed amount. When the controller unit 13 determines that the translational movement speed amount is larger than the conversion allowable maximum movement speed amount, the controller unit 13 performs the compression correction of the translational movement speed in step A10 through the Y route, and in step A11, the controller unit 13 The unit 13 outputs the compression corrected speed. If the controller unit 13 determines in step A9 that the translational movement speed amount is not greater than the maximum conversion allowable movement speed amount, the controller unit 13 outputs the speed as it is in step A11 through the N route.

  In Step A5, when the controller unit 13 determines that the speed cannot be output in the translational speed output allowable direction in the current posture state, the N route is taken, and in Step A12, the controller unit 13 determines the translation speed command value. A turning speed correction candidate value ω ′ is generated so that v is in the translation speed allowable direction. In this case, the controller unit 13 does not correct the direction of the translation speed command value v. In subsequent step A13, the controller unit 13 determines whether or not the turning speed command value ω and the turning speed correction candidate value ω ′ are in the same rotation direction and | ω |> | ω ′ |. When ω and ω ′ are in the same rotation direction and | ω |> | ω ′ |, the controller unit 13 performs the process of step A7 through the Y route. If ω and ω ′ are not in the same rotational direction or if | ω | is equal to or smaller than | ω ′ |, the route passes through the N route, and in step A14, the controller unit 13 sends the turning speed command to the turning speed correction candidate. Change to a value and go to Step A7.

  As described above, when the obstacle disappears from the traveling direction, the robot 1 again generates a speed command toward the movement target position and outputs it, so that it can return to the target.

  In the obstacle avoidance control method described in this example, when a sensor input from the sensors is generated to the controller unit 13, the controller unit 13 can react immediately to the sensor input and perform operation correction. It can be expressed as a typical obstacle avoidance operation. It is also possible to control the movement of the moving body so that this control process for realizing the reflective obstacle avoidance operation is executed after the obstacle avoidance movement control process based on the route plan.

  FIG. 18 is a flow chart for explaining a hierarchical structure command transmission type movement control method for a moving body. The control means mounted on the moving body generates an obstacle avoidance planned trajectory in step B1. In the process in step B1, the control means generates an obstacle avoidance plan trajectory with reference to a map database (not shown). In step B2, the control means calculates the output value of the translation speed and the turning speed without considering the obstacle. Subsequently, in step B3, the control means performs obstacle avoidance speed correction. The control means applies the technique of this example to the obstacle avoidance speed correction. In step B4, the control means outputs a correction speed. It is output after the motor speed is calculated.

  In other words, the obstacle avoidance speed correction processing flow is arranged downstream of the obstacle avoidance movement control flow based on the route plan such as the moving object route generation method described in Patent Document 1. The control means first causes the moving body to move while systematically generating an efficient route based on the known terrain information. While things are carried according to the known information, the control means outputs the normal movement operation command as it is without making the reflective obstacle avoidance processing of this example surface, and performs the ideal movement operation as planned. . When an unexpected obstacle appears, or due to a recognition error of self-location at the time of planning or an error between the prior information on the terrain database side and the actual information, the moving object is obstructed on the planned trajectory generated by the control means. When a situation occurs such that the control means causes the reflective obstacle processing of this example to occur, and speed correction that avoids the obstacle is appropriately interrupted to the main processing. Is possible.

  By using the proposed obstacle avoidance control method, it is possible to realize a stable movement resistant to unexpected disturbance of the external environment. The realization of stable movement is considered to make it possible to greatly expand the field of activity of mobile robots and the like into a general environment that cannot be cleared up by creating the environment. Further, selecting an obstacle to be avoided and outputting a command value for avoiding operation of the moving body itself are treated as continuous state quantities. For this reason, the avoidance operation that is output is smooth and efficient, and the calculation is performed after selecting one avoidable obstacle with the shortest pseudorange. This is a practical technique.

  As described above, the controller unit 13 changes its value depending on the relative posture relationship between the obstacle and the moving body, which is controlled by the pseudo distance whose distance changes according to the size of the angle from the moving direction of the moving body. A control method that realizes avoidance action based on the speed and posture obtained by preparing the moving state from the velocity and posture potential with anisotropic characteristics and giving the shortest pseudo distance to the surrounding obstacle every hour to the amount of this moving state Determine.

  Thus, according to the controller unit 13, a mobile body with a low calculation load can be obtained. In addition, the moving body can move smoothly, and a robust movement operation resistant to noise such as a dynamic change in environment can be performed.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In the above embodiment, the controller unit 13 generates the pseudo distance r ′ that is longer than the true value as the angle formed by the moving body traveling direction and the measurement target direction increases. It is also possible to generate a pseudo distance r ′ whose distance is shorter than the true value as the value of becomes larger. For example, if the shape of the cross section of the body of the robot body is not a perfect circle, and the part in the right front direction in the cross section is formed to protrude outward from the robot body, the part in the right front direction is an obstacle. Easy to touch. Or it may be designed so that the housing | casing of a moving body has a structurally weak site | part, and reduces the risk that this structurally weak site | part will contact an obstruction. In order to protect the right front direction part that is easy to contact these obstacles and the structurally weak part, the shortest distance is set in the right front direction (the pseudo distance once decreases from the front direction toward the right front direction). ) The processing is performed by the controller unit 13. When storing the velocity azimuth potential or velocity quantity potential in the memory, the velocity azimuth potential or velocity quantity potential having a potential shape that reduces the pseudorange in the azimuth where there is a site in the front right direction or a weakly structural part exists. Write to memory. When the controller unit 13 reads these potentials from the memory, the controller unit 13 generates a pseudo distance r ′ whose distance is shorter than the true value as the angle formed by the moving body traveling direction and the measurement target direction increases. Can do.

  Further, the controller unit 13 functions as a pseudo distance generation unit that generates a pseudo distance by changing the actual measurement distance according to the azimuth angle of the obstacle. The controller unit 13 functions as a control unit that controls the operation of the moving body so that the moving body avoids an obstacle based on the pseudo distance. The controller unit 13 also functions as avoidance target determination means, translation speed output command value correction processing means, and turning speed output command value correction processing means. Each means is realized by a CPU, a ROM, and a RAM.

  In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. The present invention can be used not only for robots and omnidirectional vehicles, but also for automobiles and the like, and can be applied to mobile devices such as automobiles, movement control devices, and control methods.

(A) is a top view of the moving body in which the movement control apparatus which has an obstacle avoidance function based on embodiment of this invention was mounted, (b) is a front view of a moving body. It is a figure which shows the measurable area | region of a laser range finder. It is a block diagram of the movement control device which has an obstacle avoidance function concerning an embodiment of the invention. It is a figure which shows an example of the obstacle map which the movement control apparatus which has an obstacle avoidance function which concerns on embodiment of this invention produces. It is a figure which shows the concept of the pseudo distance when a moving body advances. It is a figure which shows the concept of the pseudo distance when a moving body reverses. It is a figure for demonstrating the relationship between an angle and a pseudo distance. It is a conceptual diagram of the pseudo obstacle map in which the obstacle position of the surrounding environment changes by forward and backward traveling direction switching at the same point. It is a conceptual diagram of the pseudo obstacle map in which the obstacle position in the surrounding environment changes due to the movement after the posture change of the moving body. It is a figure which shows an example of an obstacle map in case an omnidirectional mobile vehicle is used as a moving body. It is a figure for demonstrating the method in which a controller unit determines the position of the obstruction to be avoided. It is a figure which shows an example of a velocity direction potential. It is a figure which shows the relationship between a translation speed output permission direction and the avoidance target obstacle direction. It is a figure for demonstrating the correction process of the output direction of the moving speed of a moving body. It is a figure which shows an example of the speed direction potential which has a different potential shape according to the moving speed of a moving body. It is a figure which shows an example of velocity amount potential. It is a flowchart of the obstacle avoidance speed correction process by a controller unit. It is a flowchart for demonstrating the movement control method of the hierarchical structure command transmission type with respect to a moving body.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Robot (moving body), 1A ... Omnidirectional moving vehicle (moving body), 2, 2A ... Base, 3, 4 ... Drive wheel, 5, 6 ... Motor, 7 ... Front caster, 8 ... Back caster, 9 -12 ... Laser range finder (measuring means), 13 ... Controller unit (movement control device having an obstacle avoidance function), 14, 15 ... Rotation angle sensor (detecting means), 16 ... Position sensor (detecting means), 17 ... Attitude sensor (detection means), 18 ... Laser range finder measurable area, 19 ... Path generation unit, 20 ... Target trajectory generation unit, 21, 25 ... Calculation unit, 22 ... Robot movement speed command value generation unit, 23 ... Obstacle Avoidance speed command value correction unit, 24 ... Axle rotation speed command value generation unit, 26 ... Motor control current command value generation unit, 27 ... Robot body, 28-32, 37-40, 42-44 ... Obstacle or object, 3 A moving body traveling direction, 34 an actual position, 35 a pseudo position, 36 a pseudo obstacle position, 41 a driving wheel, 45 an obstacle position, 46 a shortest pseudo distance, 47 an avoidance target obstacle direction, 48. Avoided obstacle, 49 ... translation speed output allowable direction, 50 ... moving body reference position, 51 ... moving speed output direction, 52 ... avoidance target obstacle direction, 53 ... translation speed output allowable direction, 54-56 ... speed direction potential 57 ... Obstacle position, 58 ... Pseudo distance, 59 ... True distance, 60 ... Pseudo position, 61 ... True position.

Claims (14)

A moving object,
A detecting means provided on the moving body for detecting the moving body traveling direction;
Measuring means provided on the moving body, measuring the position of the obstacle and the actual measurement distance to the obstacle, and outputting the azimuth angle of the obstacle with respect to the moving body traveling direction detected by the detecting means;
A pseudo distance generating means for generating a pseudo distance by changing the actual measurement distance according to the magnitude of the azimuth angle of the obstacle output by the measuring means,
Control means for controlling the operation of the moving body so that the moving body avoids the obstacle based on the pseudo distance generated by the pseudo distance generating means;
A movement control device having an obstacle avoidance function.   The movement control apparatus having an obstacle avoidance function according to claim 1, wherein the pseudo distance generation unit makes the pseudo distance longer than a true value as the angle increases.   3. The movement control device having an obstacle avoidance function according to claim 1, wherein the pseudo distance generation means outputs a corrected movement command value obtained by correcting the movement command value with the pseudo distance as an input.   The pseudo distance generation means includes avoidance target determination means for determining, as an avoidance target obstacle position, an object position having a measurement point with the shortest pseudo distance among objects existing around the moving body. A movement control device having an obstacle avoidance function according to any one of claims 1 to 3. The pseudo-range generating means is
Storage means for storing speed azimuth potential information that defines a relationship between the pseudo distance and an azimuth of a translational speed output allowable direction that can be taken by the mobile body according to the pseudo distance and the size of the mobile body itself;
When the direction of the translational movement speed scheduled to be output by the moving body exists between the direction of the obstacle to be avoided and the translational speed output allowable direction, the direction of the output of the translational speed is output as the translational speed output. Translational speed output command value correction processing means for changing to a permissible direction,
The movement control apparatus which has an obstacle avoidance function in any one of Claim 1 thru | or 4 characterized by the above-mentioned. The pseudo-range generating means is
As the pseudo distance increases, the azimuth angle of the translation speed output permissible direction that the mobile body can take approaches 0, and as the pseudo distance decreases, the azimuth angle of the translation speed output permissible direction approaches π / 2. 6. The movement control apparatus having an obstacle avoidance function according to claim 1, further comprising storage means for storing speed direction potential information having a potential shape. The pseudo-range generating means is
When the pseudo distance is equal to or greater than the first threshold value r _max , the azimuth angle of the translational speed output allowable direction that can be taken by the moving body is 0, and when the pseudo distance is equal to or less than the first threshold value r _max , When the azimuth angle in the translational speed output allowable direction approaches π / 2 as the pseudorange decreases, and the pseudorange is equal to or less than the second threshold value r _min , the azimuth angle in the translational speed output allowable direction is π / 2. The movement control apparatus having an obstacle avoidance function according to claim 1, further comprising storage means for storing speed direction potential information having such a potential shape. The storage means
As the moving speed of the moving body increases, the allowable azimuth angle starts to be limited from the stage where the pseudo distance is far compared to the pseudo distance when the moving speed of the moving body is low. Stores output azimuth potential information having a potential shape whose value changes according to the moving speed of the mobile body so that the allowable azimuth angle reaches a saturated state at a pseudo distance far from the pseudo distance. The movement control device having an obstacle avoidance function according to claim 5.   When the moving body cannot output a speed in the current posture with respect to the corrected translational movement speed output command direction changed by the translation speed output command value correction processing means, the moving body outputs a speed. 9. The turning speed output command value correction processing means for generating a turning speed by changing a planned output turning movement speed so as to turn the posture of the moving body until it becomes possible. The movement control apparatus which has an obstacle avoidance function in any one.   When the direction in which the translation movement speed is output is between the avoidance target obstacle direction and the translation speed output allowable direction or in the vicinity of the translation speed output allowable direction, the direction in which the translation movement speed is output is The obstacle avoidance function according to any one of claims 5 to 9, further comprising a turning speed output command value correction processing means that does not permit the output of the turning speed output command value approaching the avoidance target obstacle direction. Movement control device. The pseudo-range generating means is
A ratio representing a value obtained by dividing the maximum value of the translation speed that can be output by the moving body in a state that is limited by the speed amount potential, by the maximum value of the translation speed that can be output by the moving body in the state where there is no obstacle. Storage means for storing speed quantity potential information that defines the relationship with the pseudorange;
A translation speed output command value correcting means for changing the translation speed output command value to a translation speed maximum value when the translational movement speed amount to be output of the moving body is greater than the translation speed maximum value obtained at the time of output;
The movement control apparatus which has an obstacle avoidance function in any one of Claims 1 thru | or 10 characterized by the above-mentioned. The pseudo-range generating means is
As the pseudo distance increases, the maximum translation speed that can be output by the moving body in a state limited by the velocity amount potential is the maximum translation speed that the mobile body can output without the obstacle. 12. A storage means for storing speed quantity potential information having a potential shape such that a ratio representing a divided value approaches 1 and the ratio approaches 0 as the pseudo-range decreases. The movement control apparatus which has an obstacle avoidance function in any one of. The pseudo-range generating means is
When the pseudo distance is equal to or greater than the third threshold value r _{v max} , the moving body outputs the maximum translational speed that can be output by the moving body in a state limited by the speed amount potential, and in the absence of the obstacle. When the ratio representing the value obtained by dividing the maximum possible translation speed is 1 and the pseudo distance is equal to or less than the third threshold value r _{v max} , the ratio approaches 0 as the pseudo distance decreases, and the pseudo distance 13. The storage device according to claim 1, further comprising: a storage unit that stores velocity amount potential information having a potential shape such that the ratio becomes 0 when the distance is equal to or less than a fourth threshold value r _{v min.} A movement control device having the described obstacle avoidance function. Recording means capable of storing and updating external environment information related to the moving space;
Route generating means capable of generating an appropriate route to the destination point based on the external environment information recorded in the recording means;
A moving speed output generating means for generating a speed output command value that follows the path generated by the path generating means;
The pseudo distance generating means according to claim 1, wherein speed output correction is performed on the speed output command value generated by the moving speed output generating means,
A movement control device having an obstacle avoidance function.

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