JP2011107984A - Route search system, method and program, and mobile body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route search system, method and program that prevent walking of a person from being interrupted, and to provide a mobile body. <P>SOLUTION: The route search system is a robot that searches a moving route of the mobile body that starts movement from a moving start point existing in a moving region and reaches a moving end point existing in the moving region. The system includes: a primal route search unit 112 that searches a standard route based on information on the moving region; a shift direction decision unit 113 that determines a shift direction based on a travel direction of the standard route; and a moving route decision unit 115 that determines a moving route by shifting the standard route in a shift direction. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a route search system, a route search method, a route search program, and a mobile object.

  In recent years, methods for controlling a moving body have been developed (Patent Documents 1 to 5). In the control method of Patent Document 1, a wall in the environment is recognized, and a position away from the wall by a certain distance is used as a movement path. Therefore, when moving in a wide space, it goes around. Therefore, there is a problem that the moving distance becomes long and the moving time becomes long.

  Moreover, in the control method of patent document 2, the white line on a road is recognized and it controls so that a mobile body moves autonomously within the white line. Therefore, it becomes necessary to provide a white line in the environment.

  In Patent Document 3, in a mobile robot that follows a tracking target object, a tracking path that is parallel to the movement path of the tracking target object and shifted by a certain amount is set. In Patent Document 4, a non-continuous wall is detected, the length of a perpendicular line dropped from the movement path with respect to the wall is measured, and the vehicle passes through a position separated by a predetermined distance. Patent Document 5 discloses a method of moving in a descending direction while regarding a collision avoidance target as a mountain and a reaching target as a valley.

JP-A-4-310108 JP-A-5-297939 JP 2006-146491 A JP 2006-293975 A JP-A-5-297939

  In addition, autonomous mobile bodies that move autonomously are used. Such an autonomous mobile body searches for the shortest path from the movement start point to the movement end point. And the autonomous mobile body is moving along the shortest path. Such an autonomous mobile body can coexist with humans.

  When operating an autonomous mobile body in a human environment, it is important not to collide with humans. However, Patent Documents 1 to 5 do not consider use in a mobile environment where humans exist. In the route search method for searching for the shortest route from the movement start point to the movement end point, no consideration is given to human movement. Therefore, in a moving area where a human moves, the moving body may obstruct human traffic.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a route search system, a route search method, a route search program, and a moving body that can prevent human traffic from being hindered. And

  The route search system according to the first aspect of the present invention is a route search that starts moving from a moving start point existing in a moving region and searches for a moving route of a moving body that reaches a moving end point existing in the moving region. A system for searching for a reference route based on information on a moving area, a shift direction determining unit for determining a shift direction based on a traveling direction of the reference route, and shifting the reference route And a movement route determination means for determining a movement route by shifting in the direction. As a result, it is possible to reflect the human walking rules in the movement route, and it is possible not to obstruct human traffic.

  A route search system according to a second aspect of the present invention is the route search system described above, wherein the shift amount changes according to a position on the reference route. It is possible to search for a movement route according to the movement area.

  A route search system according to a third aspect of the present invention is the route search system described above, wherein the shift amount is set to change the shift amount according to a distance from the travel route to the obstacle included in the travel region. Means are further provided. Thereby, it is possible to search for a movement route corresponding to the movement area.

  A route search system according to a fourth aspect of the present invention is the route search system described above, wherein when the distance from the travel route to the obstacle is smaller than a threshold value, the shift amount is set to be different from that of other locations. Is also made smaller. Thereby, it can avoid colliding with obstacles, such as a wall.

  A route search system according to a fifth aspect of the present invention is the route search system described above, wherein when the distance from the travel route to the obstacle is greater than a threshold value, the shift distance is set to be different from that of other locations. Is also made smaller. Thereby, it is possible to search for a movement route corresponding to the movement area, and to shorten the movement time.

  A route search system according to a sixth aspect of the present invention is the route search system described above, wherein the shift amount is set to 0 at the movement start point and the movement end point, and the movement start point is separated from the movement start point in the vicinity of the movement start point. Therefore, a region where the shift amount increases and a region where the shift amount increases as the distance from the movement end point is increased in the vicinity of the movement end point are provided. Thereby, a smooth movement route can be searched in the vicinity of the movement start point and the movement end point.

  A route search system according to a seventh aspect of the present invention starts a movement from a movement start point existing in a movement area and searches for a movement path of a moving body that reaches a movement end point existing in the movement area. A vector field generating means for generating a vector field based on a dynamic obstacle moving in a moving area; and a route searching means for searching for a moving path by giving a cost based on the vector field. It is to be prepared. Thereby, a dynamic obstacle can be avoided from the intended direction.

The moving body according to the eighth aspect of the present invention has the route search system described above, thereby preventing human traffic from being obstructed.

  According to a ninth aspect of the present invention, there is provided a route search method for starting a movement from a movement start point existing in a movement area and searching for a movement path of a moving body reaching a movement end point existing in the movement area. A route search step for searching a reference route based on information on a moving area, a shift direction determination step for determining a shift direction based on a traveling direction of the reference route, and the shift of the reference route. And a movement path determination step for determining a movement path by shifting in the direction. Thereby, it can prevent obstructing human traffic.

A route search method according to a tenth aspect of the present invention is the route search method described above, wherein the shift amount changes according to a position on the reference route. Thereby, it is possible to search for a movement route corresponding to the movement area.

  A route search method according to an eleventh aspect of the present invention is the route search method described above, wherein the shift amount is set to change the shift amount according to a distance from the travel route to the obstacle included in the travel region. Steps are further provided. Thereby, it is possible to search for a movement route corresponding to the movement area.

  A route search method according to a twelfth aspect of the present invention is the route search method described above, wherein when the distance from the travel route to the obstacle is smaller than a threshold value, the shift amount is set to be different from other locations. Is also made smaller. Thereby, it can avoid colliding with obstacles, such as a wall.

  A route search method according to a thirteenth aspect of the present invention is the route search method described above, wherein when the distance from the travel route to the obstacle is greater than a threshold value, the shift distance is set to be different from other locations. Is also made smaller. Thereby, it is possible to search for a movement route corresponding to the movement area, and to shorten the movement time.

  A route search method according to a fourteenth aspect of the present invention is the route search method described above, wherein the shift amount is set to 0 at the movement start point and the movement end point, and the movement start point is separated from the movement start point in the vicinity of the movement start point. Therefore, a region where the shift amount increases and a region where the shift amount increases as the distance from the movement end point is increased in the vicinity of the movement end point are provided. Thereby, a smooth movement route can be searched in the vicinity of the movement start point and the movement end point.

  According to a fifteenth aspect of the present invention, there is provided a route search method for starting a movement from a movement start point existing in a movement region and searching for a movement route of a moving body reaching a movement end point existing in the movement region. A vector field generating step for generating a vector field based on a dynamic obstacle moving in a moving area, and a route searching step for searching for a moving route by giving a cost based on the vector field. It is to be prepared. Thereby, a dynamic obstacle can be avoided from the intended direction.

  A route search program according to a sixteenth aspect of the present invention is a route search for starting a movement from a movement start point existing in a movement region and searching for a movement route of a moving body reaching a movement end point existing in the movement region. A program, a route search step for causing a computer to search for a reference route based on information on a moving area; a shift direction determination step for determining a shift direction based on a traveling direction of the reference route; A movement path determination step for determining a movement path by shifting the reference path in the shift direction.

  A route search program according to a seventeenth aspect of the present invention is the route search program described above, wherein the shift amount changes according to a position on the reference route. Thereby, it is possible to search for a movement route corresponding to the movement area.

  A route search program according to an eighteenth aspect of the present invention is the route search program described above, wherein the shift amount is set to change the shift amount in accordance with a distance from the travel route to the obstacle included in the travel region. Steps are further provided. Thereby, it is possible to search for a movement route corresponding to the movement area.

  A route search program according to a nineteenth aspect of the present invention is the route search program described above, wherein when the distance from the travel route to the obstacle is smaller than a threshold value, the shift amount is set to be different from other locations. Is also made smaller. Thereby, it is possible to search for a movement route corresponding to the movement area. Thereby, it can avoid colliding with obstacles, such as a wall.

  A route search program according to a twentieth aspect of the present invention is the route search program described above, wherein when the distance from the travel route to the obstacle is greater than a threshold value, the shift distance is set to be different from other locations. Is also made smaller. Thereby, it is possible to search for a movement route corresponding to the movement area, and to shorten the movement time.

  A route search program according to a twenty-first aspect of the present invention is the route search program described above, wherein the shift amount is set to 0 at the movement start point and the movement end point, and the movement start point is separated from the movement start point in the vicinity of the movement start point. Therefore, a region where the shift amount increases and a region where the shift amount increases as the distance from the movement end point is increased in the vicinity of the movement end point are provided. Thereby, a smooth movement route can be searched in the vicinity of the movement start point and the movement end point.

  A route search program according to a twenty-second aspect of the present invention is a route search for starting a movement from a movement start point existing in a movement area and searching for a movement path of a moving body reaching a movement end point existing in the movement area. A program for generating a vector field based on a dynamic obstacle moving in a moving area, and a route for searching for a moving path by giving a cost based on the vector field. And a search step. Thereby, a dynamic obstacle can be avoided.

  According to the present invention, it is possible to provide a route search system, a route search method, a route search program, and a mobile object that can prevent human traffic from being hindered.

It is a figure which shows the structure of the moving body concerning this invention. It is a block diagram which shows the structure of the control part of the moving body concerning this invention. It is a figure which shows the path | route produced | generated by the route production | generation system concerning Embodiment 1 of this invention. It is a figure which shows typically a mode that the mobile body concerning this invention moves in a movement area | region. It is a flowchart which shows the path | route production | generation method concerning Embodiment 1 of this invention. It is a figure which shows the path | route produced | generated by the route production | generation system concerning Embodiment 2 of this invention. It is a flowchart which shows the path | route production | generation method concerning Embodiment 2 of this invention. It is a figure which shows the path | route produced | generated by the route production | generation system concerning Embodiment 3 of this invention. It is a flowchart which shows the path | route production | generation method concerning Embodiment 3 of this invention. It is a graph which shows the relationship between the amount of shifts, and the distance from a wall. It is a figure which shows the path | route produced | generated by the route production | generation system concerning Embodiment 4 of this invention. It is a flowchart which shows the path | route production | generation method concerning Embodiment 4 of this invention. It is a graph which shows the relationship between shift amount and path length. It is a block diagram which shows the structure of the control part of the moving body concerning this invention. It is a figure which shows the path | route produced | generated by the route production | generation system concerning Embodiment 5 of this invention. It is a flowchart which shows the path | route production | generation method concerning Embodiment 5 of this invention. 5 is a flowchart showing a route generation method combining Embodiments 1, 2, and 4. It is a figure which shows the movement path | route produced | generated combining Embodiment 1, 2, and 4. FIG.

  Hereinafter, embodiments of a moving body according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

Embodiment 1 of the Invention
First, a configuration of a robot which is an example of a moving body according to the present invention will be described with reference to FIG. FIG. 1 is an external view schematically showing the configuration of the robot 100. In the present embodiment, the robot 100 will be described as a mobile robot that moves autonomously. The robot 100 includes a wheel 2, a housing 3, and a sensor 5. Inside the housing 3 are provided a motor connected to the wheels 2, a battery for driving the motor, and the like. This motor serves as a drive mechanism for driving the robot 100. By driving the motor, the wheel 2 rotates and the robot 100 moves. For example, the robot 100 moves at a speed similar to a human walking speed. Further, the head 1 is provided with a sensor 5 having a CCD camera, a laser sensor, or the like. The sensor 5 detects obstacles or humans existing around the robot 100.

  The robot 100 is provided with a control unit 110. The control unit 110 is an arithmetic processing unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a communication interface, and the like. The control unit 110 includes a detachable HDD, an optical disk, a magneto-optical disk, and the like, stores various programs and control parameters, and supplies the programs and data to a memory (not shown) or the like as necessary. . Of course, the controller 110 is not limited to one physical configuration physically. The control unit 110 generates a movement path along which the robot 100 moves. Then, a motor or the like for driving the wheels 2 is controlled so that the robot 100 moves along the movement path. Of course, the robot 100 is not limited to a wheel-type mobile robot, and may be a walking type or other mobile robot. The robot 100 may be a moving body that moves by performing self-position estimation.

  The control unit 110 determines a movement route from the movement start point to the movement end point in the movement environment. The robot 100 starts moving from the movement start point. And it moves along a movement route and stops when it moves to the movement end point. That is, the control unit 110 functions as a route search system that searches for a movement route from the movement start point to the movement end point.

  Next, the control system of the robot 100 will be described with reference to FIG. FIG. 2 is a block diagram showing the control unit 110 of the robot 100. The control unit 110 executes a calculation process for determining a route along which the robot 100 moves. As shown in FIG. 2, the control unit 110 includes a map information storage unit 111, an optimum route search unit 112, a shift direction determination unit 113, a shift amount setting unit 114, and a movement route determination unit 115.

  The map information storage unit 111 stores map information in a moving area where the robot 100 moves. For example, the coordinates of obstacles such as walls and desks existing in the moving environment are stored. In addition, the map information storage unit 111 stores, for example, the distance from the wall in the moving environment as a distance potential.

  The optimum route search unit 112 searches for the shortest route from the input movement start point to the movement end point. For example, the optimum route searching unit 112 searches for the shortest route from the movement start point to the movement end point with reference to the map information stored in the map information storage unit 111. This shortest path is obtained, for example, as a set of passing points through which the moving object passes. That is, a curve connecting a set of a plurality of passing points becomes the shortest path. This shortest route becomes a reference route for obtaining a moving route.

  As shown below, the control unit 110 generates a movement route based on the shortest route. For example, the optimum route searching unit 112 generates the shortest route based on the distance potential stored in the map information. The shortest path is generated so as to pass through the middle of the wall in the space through which the robot 100 passes. That is, the shortest path is searched for using the distance from the wall as the cost. Of course, the reference route serving as a reference is not limited to the shortest route, but may be an optimum route that optimizes the cost from the movement start point to the movement end point.

  The shift direction determination unit 113 determines a direction in which the shortest route searched by the optimum route search unit 112 is shifted. For example, the shift direction determination unit 113 smoothes a set of passing points that form the shortest path, and obtains a curve along the shortest path. The shift direction determination unit 113 sets the normal direction of this curve as the shift direction. Therefore, the shift direction changes according to each position. Here, the normal direction on the right side is the shift direction. That is, the right direction is the shift direction. The right direction is the right direction when the robot 100 is used as a reference in a state where the robot 100 faces the moving direction. The shift direction is a direction in a horizontal plane in the moving environment 50. As described above, the shift direction determination unit 113 determines the shift direction based on the traveling direction of the shortest path.

  In the shift amount setting unit 114, a shift amount for shifting the shortest path is set. In the present embodiment, this shift amount is a constant value. That is, the shift amount is fixed at a predetermined value.

  The movement route determination unit 115 determines a movement route based on the shortest route, the shift direction, and the shift amount. Specifically, the route shifted by the shift amount in the shift direction is determined as the travel route. Here, the shift direction is the right direction perpendicular to the curve of the shortest path. Therefore, the movement route is shifted to the right by the shift amount from the shortest route. In other words, the movement path is a curve obtained by translating the shortest path to the right.

  Next, the relationship between the shortest route and the moving route will be described with reference to FIG. 3. FIG. 3 is a top view schematically showing the moving environment 50. That is, FIG. 3 schematically shows a moving environment 50 in which the robot 100 moves.

  In FIG. 3, the robot 100 moves from the bottom to the top and moves so as to turn to the left. The shortest path 52 exists in the middle of the left and right walls in the moving environment 50. Here, the shift direction is a right direction based on the direction of the robot 100. Accordingly, at each point on the shortest path, a set of points obtained by shifting the shortest path rightward by the shift amount constitutes the movement path 51.

  In this way, the movement route is determined by shifting the shortest route 52. Therefore, even in a mobile environment where a human is present, the robot 100 can be prevented from interfering with human walking. For example, as shown in FIG. 4, in a moving environment where there is a rule that a human 53 passes on the right side, the robot 100 moves according to the moving path. In this case, it is possible to prevent the human flow from being obstructed when the robot 100 passes on the right side. That is, the robot 100 moves in the moving environment in the right-hand traffic like a person. Therefore, the task can be executed in an environment where the human 53 coexists.

  The shift direction is not limited to the right direction. For example, in the mobile environment 50 in which a person passes on the left side, the shift direction may be the left direction. As described above, either the left or right direction may be set as the shift direction based on the orientation of the robot 100. The robot 100 according to the present embodiment can be applied to a wheelchair inverted motorcycle. Of course, the present invention can be applied to the walking robot 100.

  In this way, the control unit 110 functions as a route search system from the movement start point to the movement end point. Of course, the entire configuration of the route search system may not be built in the robot 100. For example, the map information storage unit 111 may exist in an external storage device. That is, a part of the configuration may be provided outside the robot 100.

  A route search method in the control unit 110 according to the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing a route search method. First, when processing is started, the optimum route search unit 112 searches for the shortest route with reference to the map information in the map information storage unit 111. Then, the shift direction determination unit 113 smoothes the passing points included in the shortest path (step S101). Thereby, a curve corresponding to the reference route is generated. Thereafter, the shift direction determination unit 113 calculates the normal direction of the passing point (step S102). Thereby, the shift direction is determined.

  Then, it is shifted by a specified distance (shift amount) in the normal direction (step S103). Then, it is determined whether or not all route points from the movement start point to the movement end point have been shifted (step S104). The processes in steps S101 to S103 are repeated until all path points are shifted (No in step S104). When all the route points are shifted, the route search is terminated. As a result, it is possible to generate a movement route shifted to the right from the shortest route. By correcting the shortest path to be a movement path, it is possible to prevent obstructing the flow of human movement. Furthermore, since collision can be prevented, safety can be further improved.

  As described above, the route search system according to the present exemplary embodiment starts the movement from the movement start point existing in the movement region, and searches for the movement route of the moving body that reaches the movement end point existing in the movement region. The search system includes a route search unit 112 that searches for the shortest route based on information on the moving area, a shift direction determination unit 113 that determines a shift direction based on the traveling direction of the shortest route, and a shift of the shortest route. And a movement route determination unit 115 that determines the movement route by shifting in the direction. This prevents human traffic from being obstructed.

Embodiment 2. FIG.
In the present embodiment, the shift amount is changed according to the situation. That is, the shift amount is constant in the first embodiment, but in this embodiment, the shift amount is changed according to the position on the movement path. Thereby, it is possible to search for a movement route corresponding to the movement area. Note that the basic configuration of the robot 100 and the control unit 110 is the same as the configuration described in Embodiment 1, and thus description thereof is omitted.

  In the present embodiment, the movement path is generated in consideration of the collision with the wall in the movement environment. The movement route generation according to the present embodiment will be described with reference to FIG. FIG. 6 is a top view showing the mobile environment 60. As shown in FIG. 6, it is assumed that there is a place where the width of the movement path is narrowed in the middle. That is, in the mobile environment 50, the right wall is bent into a dogleg shape. In this case, the right wall approaches the left wall at the bent position.

  In such a moving environment, the robot 100 may collide with the wall if it is shifted by a fixed shift amount. Therefore, in this embodiment, the shift amount is changed. That is, the shift amount is reduced at a location where the distance from the wall approaches. Specifically, the shift amount is minimized in the vicinity of the bending point of the right wall surface, and the shifting amount increases as the distance from the bending point increases. When the distance from the bending point exceeds a certain value, the shift amount becomes constant. That is, when the distance from the wall surface is a certain distance or more, the shift amount is constant at a specified value.

  In order to perform such processing, map information having a distance potential is used in the present embodiment. The distance potential is used for self-position estimation and shortest path search. Thereby, the relative distance between the passing point and the wall can be calculated at high speed. By using a distance potential that is used in advance for self-position estimation and shortest distance search, the shift amount can be easily changed. That is, it is not necessary to newly add data for changing the shift amount, and the shift amount can be easily changed. Further, the shift amount setting unit 114 shown in FIG. 2 executes a calculation for changing the shift amount.

  Next, calculation processing for changing the shift amount will be described with reference to FIG. FIG. 7 is a flowchart showing a process for changing the shift amount. First, similarly to steps S101 to S103 shown in the first embodiment, the passing point is smoothed (step S201), the normal direction (shift direction) of the passing point is calculated (step S202), and the specified distance in the normal direction is set. The shift (step S203) is executed by (shift amount). Since these steps S201 to S203 are the same processing as in the first embodiment, detailed description thereof will be omitted.

  Next, it is determined whether or not the shifted position collides with the wall (step S204). Here, it is determined whether or not the shifted position and the wall collide by using a distance potential corresponding to the distance to the wall. If the shifted position collides with the wall, the shift amount is reduced to avoid collision with the wall (step S205). That is, the shifted position is prevented from colliding with the wall.

  Then, it is determined whether or not all route points from the movement start point to the movement end point have been shifted (step S206). Until all the path points are calculated (shifted), the processes in steps S201 to S205 are repeated (No in step S206). When all the route points are shifted, the route search is terminated. As a result, it is possible to generate a movement route shifted to the right from the shortest route. In this way, by correcting the shortest path to be a moving path, it is possible to prevent obstructing human traffic. Further, since the robot 100 can be prevented from colliding with the wall, safe movement is possible. Of course, the shift amount may be changed in consideration of the distance to an obstacle other than the wall. In the present embodiment, the shift amount changes according to the position on the shortest path. Thereby, an appropriate movement route can be generated.

  Thus, in the present embodiment, the shift amount changes according to the position on the shortest path. The shift amount setting unit 114 changes the shift amount according to the distance from the movement route to the obstacle included in the movement region. The shift amount setting unit 114 makes the shift amount smaller than other portions when the distance from the moving route to the obstacle is smaller than the threshold value. Thereby, it can prevent colliding with a failure. Note that the threshold value of whether or not to collide with an obstacle may be set according to the outer shape of the robot 100.

Embodiment 3 FIG.
In the present embodiment, the shift amount is changed according to the situation. That is, the shift amount is constant in the first embodiment, but in this embodiment, the shift amount is changed according to the position on the movement path. Note that the basic configuration of the robot 100 and the control unit 110 is the same as the configuration described in Embodiment 1, and thus description thereof is omitted.

  In the present embodiment, when there is a wide space in the movement path, the shift amount at that position is reduced. The movement path generation for changing the shift amount will be described with reference to FIG. FIG. 8 is a top view showing the mobile environment 50. As shown in FIG. 8, there is a portion where the width of the movement route becomes wider on the way. That is, in the middle of the mobile environment 50, the distance between the walls on both sides is wide, and a wide space exists. The robot 100 passes through a wide space, that is, a space away from the wall.

  In this embodiment, the shift amount is reduced in this wide space. Specifically, the shift amount is set to 0 in a space where the walls on both sides are wide apart. For example, when the distance from the wall is larger than the threshold value, the shift amount is set to zero. In a wide space, the shift amount gradually increases as the distance from the center increases. That is, the distance to the wall is the largest at the center of a wide space, and the distance to the wall is reduced as the distance from the center increases. Therefore, as the robot 100 moves, the shift amount decreases to zero, and then the shift amount increases. The shift amount is substantially constant outside the wide space (narrow space).

  In a large space, the human and the robot 100 can sufficiently pass each other without passing on the right side. That is, since the space through which the human and the robot 100 pass is sufficiently wide, there is a margin in the passing space. Thereby, even if the shift amount is 0, it is possible to prevent the human traffic from being hindered. Further, since the robot 100 can pass a route that is close to the shortest route, the movement time can be shortened. Further, the shift amount setting unit 114 shown in FIG. 2 executes a calculation for changing the shift amount.

  Next, the process of changing the shift amount will be described with reference to FIG. FIG. 9 is a flowchart showing processing for changing the shift amount. First, similarly to steps S101 to S102 shown in the first embodiment, the passing point is smoothed (step S301) and the normal direction of the passing point is calculated (step S302). Since these steps S301 to S302 are the same processing as in the first embodiment, detailed description thereof will be omitted.

  Next, the shift amount is determined according to the distance between the route point and the wall (step S303). The determination of the shift amount is executed by, for example, the shift amount setting unit 114 in FIG. Then, the distance (shift amount) calculated in step S303 is shifted in the normal direction (step S304). Then, it is determined whether or not all route points from the movement start point to the movement end point have been shifted (step S305). The processes in steps S201 to S205 are repeated until all path points are shifted (No in step S306). When all the route points are shifted, the route search is terminated. As a result, it is possible to generate a movement route shifted to the right from the shortest route. Further, since the route closest to the shortest route is used as the travel route, the travel time can be shortened.

  Next, shift amount adjustment using both the second embodiment and the third embodiment will be described with reference to FIG. As shown in the second embodiment, the shift amount is reduced at the location where it collides with the wall, and as shown in the third embodiment, the shift amount is reduced in the space where the walls on both sides are wide apart. Control is performed at the same time. In the following description, it is divided into sections A to E according to the distance from the wall.

  In the section A shown in FIG. 10, the right shift amount is 0 because the distance from the wall is small. Thereby, as shown in Embodiment 2, the collision with the wall can be prevented. That is, it is possible to prevent the robot 100 from colliding with the wall due to a large shift amount. In the section B, the right shift amount increases according to the distance from the wall. Here, the distance from the wall is proportional to the shift amount. You can shift until you approach the wall. Next, when the distance from the wall increases to some extent, the shift amount is made constant as shown in the section C. As a result, a movement path shifted to the right side by the designated shift amount is generated. In the section B, the shift amount linearly increases from 0 to the designated shift amount given in the section C.

  Furthermore, when the distance from the wall increases, it is determined that the space is widened, and the shift amount is decreased as shown in the section D. That is, the shift amount decreases as the distance from the wall increases. Here, the distance from the wall is proportional to the shift amount. In the section D, the shift amount decreases from the designated shift amount given in the section C to 0. Further, when the distance from the wall increases, it is determined that the space is sufficiently wide, and the shift amount is set to 0 as shown in the section E. By doing in this way, it can prevent colliding with a wall and can shorten movement time. Moreover, since it passes on the right side, it can prevent a human flow from being obstructed. Therefore, convenience can be further improved. In the present embodiment, the shift amount changes according to the position on the shortest path. Thereby, an appropriate movement route can be generated.

  In the present embodiment, the shift amount changes according to the position on the shortest path. The shift amount setting unit 114 changes the shift amount according to the distance from the movement route to the obstacle included in the movement region. Specifically, when the distance from the moving route to the obstacle is larger than the threshold value, the shift distance is made smaller than other portions. This threshold value may be set according to the outer shape of the robot 100. When moving in a space that is not a passage (a space that is sufficiently wide), there is enough space for the human and the robot 100 to pass each other. This eliminates the need for the robot 100 to pass on the right side. Therefore, the travel distance can be shortened and the travel time can be shortened.

Embodiment 4 FIG.
In the present embodiment, route generation is performed so that the movement start point and the movement end point are continuously connected. That is, the shift amount is adjusted in the vicinity of the movement start point so that the shift amount gradually increases as the distance from the movement start point increases. Further, in the vicinity of the movement end point, the shift amount is adjusted so that the shift amount gradually decreases as the movement end point is approached. This shift amount adjustment is executed by the shift amount setting unit 114.

  Thereby, as shown in FIG. 11, the movement path | route 51 from a movement start point to a movement end point connects continuously. That is, the shift amount gradually increases near the movement start point, and the shift amount gradually decreases near the movement end point. The shift amount is constant in the section from the vicinity of the movement start point to the vicinity of the movement end point. Therefore, it is possible to prevent the robot 100 from making a sudden turn or turn. Thereby, the robot 100 can move smoothly.

  Next, a method for generating the moving route will be described with reference to FIG. FIG. 12 is a flowchart showing the route generation method according to the present embodiment. First, similarly to steps S101 to S102 described in the first embodiment, the passing point is smoothed (step S401) and the normal direction of the passing point is calculated (step S402). Since these steps S401 to S402 are the same processing as in the first embodiment, detailed description thereof will be omitted.

  Then, the shift amount is determined according to the distance between the route point and the start / end points (step S403). That is, the shift amount is reduced at a route point with a short distance to the movement start point. Further, the shift amount is reduced at a route point having a small distance to the movement end point.

  For example, as shown in FIG. 13, the shift amount is 0 at the movement start point. In the G region near the movement start point, the shift amount gradually increases. In the region G, the shift amount increases linearly with respect to the path length. When the route point moves away from the movement start point by a certain distance or more, the shift amount becomes constant as shown in the area H. Further, as the robot 100 advances and approaches the movement end point, the shift amount gradually decreases as shown in the region I. In the region I, the shift amount decreases linearly with respect to the path length. At the movement end point, the shift amount is set to zero.

  The shift amount is constant between the G area and the I area. In the G region near the movement start point, the shift amount increases as the distance from the movement start point increases. Further, in the area I near the movement end point, the shift amount increases as the distance from the movement end point increases.

  Then, the calculated distance (shift amount) is shifted in the normal direction (step S404). Therefore, as described above, the shift amount changes in the vicinity of the movement start point and the movement end point. Then, as in step S104 of the first embodiment, it is determined whether or not all route points from the movement start point to the movement end point have been shifted (step S405). The processes in steps S401 to S404 are repeated until all path points are shifted (No in step S405). When all the route points are shifted, the route search is terminated. As a result, it is possible to generate a movement route shifted to the right from the shortest route. In this way, by correcting the shortest path to be a moving path, it is possible to prevent obstructing human traffic.

  By doing in this way, a movement route can be changed continuously. That is, the robot 100 gradually changes direction near the movement start point and the movement end point. Therefore, it is possible to prevent the robot 100 from making a sharp turn. Therefore, the robot 100 can be moved smoothly. In the present embodiment, the shift amount changes according to the position on the shortest path. Thereby, an appropriate movement route can be generated.

Embodiment 5 FIG.
In the present embodiment, the reference path is generated so as to pass the right side of the dynamic obstacle. By doing in this way, even when a dynamic obstacle such as a human or a robot exists ahead, the obstacle can be surely avoided. A dynamic obstacle is an obstacle that moves with time.

  The control part of the moving body concerning this embodiment is demonstrated using FIG. FIG. 14 is a block diagram illustrating a configuration of the control unit. Note that life is omitted for the same configuration as that described in Embodiment 1. For example, the configuration of the map information storage unit 111, the optimum route search determination unit 112, and the like are the same as those in the first embodiment, and thus description thereof is omitted.

  The vector field generation unit 116 generates a vector field based on the dynamic obstacle. For example, as shown in FIG. 15, when a dynamic obstacle exists on the route or in the vicinity thereof, a vector field of left rotation around the dynamic obstacle is generated. The optimum route searching unit 112 generates a moving route that follows the flow of the vector field. This makes it possible to generate a right-handed path. Specifically, the optimal route search is performed by assigning a cost given based on the vector field. The optimum route searched by this optimum route search becomes the movement route. As a result, a movement path along the vector field is generated in the vicinity of the dynamic obstacle. Then, when the robot 100 moves along this movement path, a dynamic obstacle can be avoided.

  Next, route generation according to the present embodiment will be described with reference to FIG. First, a dynamic obstacle is detected (step S501). For example, an image in front of the robot 100 is acquired by the sensor 5 such as a CCD camera. Here, it is assumed that a dynamic obstacle such as a human is included in the image. Or you may detect the dynamic obstruction which exists in a movement environment with the camera and sensor which were provided outside. Next, a left rotation vector field is generated around the dynamic obstacle (step S502). This vector field rotates in a spiral shape in the left direction around a moving hand obstacle. Then, an additional cost is given according to the degree of coincidence (inner product value) between the traveling direction of the route and the direction of the vector field in the course of the route search (step S503). Specifically, the absolute value of the inner product is used as the cost. The travel route is searched so that the cost is minimized. Thereby, a dynamic obstacle can be avoided.

  When there is an obstacle in front of the robot 100, it is determined at random whether the robot 100 passes the left or right of the obstacle. If a route passing through the left side is selected, the robot 100 traveling on the right side passes the left side only around the dynamic obstacle (pedestrian). In this case, there is a possibility that the progress of the pedestrian may be hindered. In the present embodiment, a vector field is not generated for a static obstacle that has not moved. In this way, it is possible to prevent the pedestrian from being obstructed by executing the route search. Furthermore, since collision can be prevented, safety can be further improved. Further, the above reference route may be updated as needed. That is, when a new dynamic obstacle is detected during the movement of the robot 100, the movement path may be updated. Alternatively, the travel route may be searched at regular time intervals.

Other embodiments.
The above first to fifth embodiments can be used in appropriate combination. That is, you may use combining at least 2 path | route production | generation among Embodiment 1-4. Here, a method of generating a route by combining the first to fourth embodiments will be described with reference to FIG. FIG. 17 is a flowchart showing a shift amount calculation logic obtained by combining the first to fourth embodiments.

  First, processing is started to search for the shortest path. Then, it is determined whether or not it is near the start (movement start point) (step S601). If it is in the vicinity of the start, the shift amount is adjusted as shown in the fourth embodiment (step S602). If it is not near the start, it is determined whether or not it is near the goal (movement end point) (step S603). If it is near the goal, the shift amount is adjusted as in the fourth embodiment (step S604). If it is not near the goal, it is determined whether it is near the wall in the moving area (step S605). Further, even when the shift amount is adjusted near the start and near the goal, it is determined whether or not it is near the wall in the moving region (step S605).

  If it is near the wall, the shift amount is adjusted as shown in the second and third embodiments (step S606). Then, the shift amount is determined (step S607). If it is not near the wall, the shift amount is determined without adjusting the shift amount (step S607). After calculating the shift amount in this way, the movement route is determined. As a result, right-hand traffic can be realized.

  FIG. 18 shows the result of determining the shift amount by combining the above embodiments. FIG. 18 is a diagram illustrating a moving route and a shortest route on which the robot 100 has actually moved. As described above, the movement route shown in FIG. 18 is generated by combining the first, second, and fourth embodiments. In FIG. 18, the maximum shift amount is 1 m. Accordingly, the shift amount is smaller than 1 m in the vicinity of the start, the vicinity of the goal, and the portion approaching the wall. By generating the route in this manner, the robot 100 can pass on the right side of the passage, and can prevent the flow of human traffic from being obstructed. Moreover, the collision with a wall can be prevented. Furthermore, it can move smoothly also in the vicinity of the movement start point and the movement end point.

  The above route search method may be executed by a computer program. By searching for the movement route as in the first to fifth embodiments, the robot 100 as a moving body moves so as to avoid humans. Therefore, the robot 100 can be moved without hindering the flow of human movement.

DESCRIPTION OF SYMBOLS 1 Head 2 Wheel 3 Case 5 Sensor 50 Movement environment 51 Movement path 52 Shortest path 53 Human 100 Robot 110 Control part 111 Map information memory | storage part 112 Optimal route search part 113 Shift direction determination part 114 Shift amount setting part 115 Movement path determination Part 116 Vector field generator

Claims (22)

A path search system for starting a movement from a movement start point existing in a movement area and searching for a movement path of a moving body reaching a movement end point existing in the movement area,
A route searching means for searching for a reference route based on the information of the moving area;
Shift direction determining means for determining a shift direction based on the moving direction of the reference path;
A route search system comprising: a travel route determination unit that shifts the reference route in the shift direction to determine a travel route.   The route search system according to claim 1, wherein the shift amount changes according to a position on the reference route.   The route search system according to claim 2, further comprising: a shift amount setting unit that changes the shift amount according to a distance from the moving route to a failure included in the moving region.   4. The route search system according to claim 3, wherein when the distance from the moving route to the obstacle is smaller than a threshold value, the shift amount is made smaller than other portions.   5. The route search system according to claim 3, wherein when the distance from the moving route to the obstacle is larger than a threshold value, the shift distance is made smaller than other portions.   The shift amount is set to 0 at the movement start point and the movement end point, and the shift amount increases as the distance from the movement start point increases in the vicinity of the movement start point, and the shift increases as the distance from the movement end point increases near the movement end point. The route search system according to any one of claims 2 to 5, wherein a region where the amount increases is provided. A path search system for starting a movement from a movement start point existing in a movement area and searching for a movement path of a moving body reaching a movement end point existing in the movement area,
Vector field generating means for generating a vector field based on a dynamic obstacle moving in a moving area;
A route search system comprising: route search means for searching for a travel route by giving a cost based on the vector field.   A moving body comprising the route search system according to claim 1. A path search method for starting a movement from a movement start point existing in a movement area and searching for a movement path of a moving body reaching a movement end point existing in the movement area,
A route search step for searching for a reference route based on the information of the moving area;
A shift direction determining step for determining a shift direction based on the traveling direction of the reference path;
A route search method comprising: a travel route determination step for determining a travel route by shifting the reference route in the shift direction.   The route search method according to claim 9, wherein the shift amount changes according to a position on the reference route.   The route search method according to claim 10, further comprising a shift amount setting step of changing the shift amount according to a distance from the movement route to a failure included in the movement region.   The route search method according to claim 11, wherein when the distance from the movement route to the obstacle is smaller than a threshold value, the shift amount is made smaller than that of other locations.   12. The route search method according to claim 10 or 11, wherein when the distance from the moving route to the obstacle is larger than a threshold value, the shift distance is made smaller than other portions.   The shift amount is set to 0 at the movement start point and the movement end point, and the shift amount increases as the distance from the movement start point increases in the vicinity of the movement start point, and the shift increases as the distance from the movement end point increases near the movement end point. The route search method according to any one of claims 10 to 13, wherein a region in which the amount increases is provided. A path search method for starting a movement from a movement start point existing in a movement area and searching for a movement path of a moving body reaching a movement end point existing in the movement area,
A vector field generating step for generating a vector field based on a dynamic obstacle moving in the moving area;
A route search method comprising: a route search step of searching for a travel route by giving a cost based on the vector field. A path search program for starting a movement from a movement start point existing in a movement area and searching for a movement path of a moving body reaching a movement end point existing in the movement area,
Against the computer,
A route search step for searching for a reference route based on the information of the moving area;
A shift direction determining step for determining a shift direction based on the traveling direction of the reference path;
A route search program comprising: a movement route determination step for determining a movement route by shifting the reference route in the shift direction.   The route search program according to claim 16, wherein the shift amount changes according to a position on the reference route.   The route search program according to claim 17, further comprising a shift amount setting step of changing the shift amount according to a distance from the movement route to a failure included in the movement region.   19. The route search program according to claim 18, wherein when the distance from the movement route to the obstacle is smaller than a threshold value, the shift amount is made smaller than that in other locations.   The route search program according to claim 18 or 19, wherein when the distance from the moving route to the obstacle is larger than a threshold value, the shift distance is made smaller than other portions.   The shift amount is set to 0 at the movement start point and the movement end point, and the shift amount increases as the distance from the movement start point increases in the vicinity of the movement start point, and the shift increases as the distance from the movement end point increases near the movement end point. The route search program according to any one of claims 17 to 20, wherein an area in which the amount increases is provided. A path search program for starting a movement from a movement start point existing in a movement area and searching for a movement path of a moving body reaching a movement end point existing in the movement area,
Against the computer,
A vector field generating step for generating a vector field based on a dynamic obstacle moving in a moving area;
A route search program comprising: a route search step for searching for a travel route by giving a cost based on the vector field.

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