JP2020160603A - 経路決定装置、ロボット及び経路決定方法 - Google Patents
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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Abstract
Description
G(v)= α・cnn(v)+ β・dist(v) ・・・(1)
C_Value=d/r_inf ・・・(3)
・d≧r_infのとき
C_Value=1 ・・・(4)
r_inf=r_max・(1−P(σ))+r_min・P(σ) ・・・(5)
P(σ)=ai・σi+bi ・・・(6)
・σi≧Tiのとき
P(σ)=0 ・・・(7)
2 ロボット(移動装置)
10 制御装置(制御部)
21 移動機構
51 移動方向決定部(予測経路決定部)
52 暫定移動速度決定部(予測経路決定部)
53 移動速度決定部(信頼度算出部、距離決定部、経路決定部)
70〜73 交通参加者
Pobj 目的地
v_cnn 暫定移動速度指令(予測経路)
v 移動速度指令(移動装置の速度、移動装置の経路)
dist 距離関数値(交通参加者距離)
P 信頼度
G 目的関数
σ 標準偏差(ばらつきパラメータ)
V_Value コスト値
Claims (9)
- 移動装置が目的地まで移動するときの経路を、交通参加者が当該目的地までの交通環境に存在する条件下で決定する経路決定装置であって、
所定の予測アルゴリズムを用いて、前記移動装置と前記交通参加者との干渉が回避されるように、前記移動装置の経路の予測結果である予測経路を決定する予測経路決定部と、
当該予測経路の信頼度を算出する信頼度算出部と、
前記移動装置が現在位置から前記予測経路で移動すると想定したときの、前記移動装置に最も近い前記交通参加者と当該移動装置との距離である交通参加者距離を、前記予測経路の前記信頼度に応じて決定する距離決定部と、
前記交通参加者距離及び前記移動装置の速度を独立変数として含む目的関数が最大値になるように、所定の制御アルゴリズムを用いて、前記移動装置の前記経路を決定する経路決定部と、
を備えることを特徴とする経路決定装置。 - 請求項1に記載の経路決定装置において、
前記所定の予測アルゴリズムは、ニューラルネットワークであり、
前記信頼度算出部は、当該ニューラルネットワークの出力のばらつきを表すばらつきパラメータを算出し、当該ばらつきパラメータと前記信頼度との関係を表すモデルを用いて、前記信頼度を算出することを特徴とする経路決定装置。 - 請求項1又は2に記載の経路決定装置において、
前記距離決定部は、前記移動装置の前記予測経路の周辺領域を複数のセルに分割したときに、前記信頼度に基づいて、当該複数のセルの各々におけるコスト値の大小を算出し、当該コスト値の大小に基づいて、前記交通参加者距離を決定することを特徴とする経路決定装置。 - 請求項1ないし3のいずれかに記載の経路決定装置において、
前記所定の制御アルゴリズムは、Dynamic Window Approach を適用したアルゴリズムであることを特徴とする経路決定装置。 - 請求項1ないし4のいずれかに記載の経路決定装置と、
移動機構と、
前記経路決定装置によって決定された経路で移動するように前記移動機構を制御する制御部と、
を備えることを特徴とするロボット。 - 移動装置が目的地まで移動するときの経路を、交通参加者が当該目的地までの交通環境に存在する条件下で決定する経路決定方法であって、
所定の予測アルゴリズムを用いて、前記移動装置と前記交通参加者との干渉が回避されるように、前記移動装置の経路の予測値である予測経路を決定し、
当該予測経路の信頼度を算出し、
前記移動装置が現在位置から前記予測経路で移動すると想定したときの、前記移動装置に最も近い前記交通参加者と当該移動装置との距離である交通参加者距離を、前記信頼度に応じて決定し、
前記交通参加者距離及び前記移動装置の速度を独立変数として含む目的関数が最大値になるように、所定の制御アルゴリズムを用いて、前記移動装置の前記経路を決定することを特徴とする経路決定方法。 - 請求項6に記載の経路決定方法において、
前記所定の予測アルゴリズムは、ニューラルネットワークであり、
当該ニューラルネットワークの出力のばらつきを表すばらつきパラメータを算出し、
当該ばらつきパラメータと前記信頼度との関係を表すモデルを用いて、前記信頼度を算出することを特徴とする経路決定方法。 - 請求項6又は7に記載の経路決定方法において、
前記移動装置の周辺領域を複数のセルに分割したときに、前記信頼度に基づいて、当該複数のセルの各々における安全性の高低を算出し、
当該安全性の高低に基づいて、前記交通参加者距離を決定することを特徴とする経路決定方法。 - 請求項6ないし8のいずれかに記載の経路決定方法において、
前記所定の制御アルゴリズムは、Dynamic Window Approach を適用したアルゴリズムであることを特徴とする経路決定方法。
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CN202010111310.6A CN111736592A (zh) | 2019-03-25 | 2020-02-24 | 路径决定装置、机器人以及路径决定方法 |
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JP7221839B2 (ja) * | 2019-10-08 | 2023-02-14 | 国立大学法人静岡大学 | 自律移動ロボットおよび自律移動ロボットの制御プログラム |
CN112223301B (zh) * | 2020-12-17 | 2021-04-13 | 江西赛特智能科技有限公司 | 一种机器人路径规划及调度方法 |
WO2023076242A1 (en) * | 2021-10-29 | 2023-05-04 | Rutgers, The State University Of New Jersey | Collision-free dynamic window approach for moving obstacles |
CN114296455B (zh) * | 2021-12-27 | 2023-11-10 | 东南大学 | 一种基于行人预测的移动机器人避障方法 |
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