JP5402057B2 - Mobile robot control system, route search method, route search program - Google Patents

Description

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

  When an autonomous mobile robot is moved in an environment where humans and robots coexist, it is required to allow the robot to perform a safe and efficient work by avoiding a collision with a human or a collision between robots. For this reason, the robot is required to thoroughly follow the traveling rules such as passing on the right (left) side, for example, in the same manner as a person. Conventionally, in order to ensure that robots follow these rules, measures such as installing magnetic tape and other infrastructure in corridors at work sites such as factories and moving the robot along the magnetic tape have been taken. It was.

  On the other hand, a technology has been developed in which autonomous mobile robots themselves have map information and autonomously move along a route searched from the map information. For example, Patent Documents 1 to 3 disclose techniques related to such autonomous mobile robots.

  In Patent Document 1, in an environment map divided by grids, for the orientation, route selection and control of an automatic movable device that sets weights for each grid and formulates a movement route plan for a grid with a large profit This method is disclosed. Patent Document 2 discloses an autonomous mobile robot that determines a steering command value corresponding to environmental information based on a travel rule learned in advance. Furthermore, Patent Document 3 discloses a route search system that assigns a negative point value to a node on a route that has been adopted in the past, and adopts a route having the lowest evaluation value from a plurality of route candidates. Yes.

Japanese Patent Laid-Open No. 10-501908 JP 2007-316799 A JP 2007-257274 A

  However, when moving according to travel rules using infrastructure installed in the environment, for example, a large work site requires a large amount of man-hours and costs to install the infrastructure, and when the work space such as a line is changed. However, there is a problem that the infrastructure itself needs to be rebuilt in response to the change and cannot be flexibly handled.

  Moreover, when moving according to the route searched from the map information, there is no need to install infrastructure, but there is a problem that the robot cannot be moved according to the route reflecting the travel rules. Conventionally, the map information used by autonomous mobile robots for route search does not include travel rule information intended by humans, and map information includes only location information such as obstacles and walls in the environment. Because it was included. Routes obtained as a result of route search from such map information need only avoid obstacles, walls, etc., and do not reflect travel rule information such as where to let the robot pass Met. Specifically, for example, in a corridor where left-hand traffic is defined, a route that is dangerous for a pedestrian who passes through the corridor is searched, such as searching for a route in which the robot moves the center or right side of the corridor. There was a fear.

  In the technology disclosed in Patent Document 1, the weighting of the cost set for each grid is related to the contribution to map creation, the visibility of landmarks, and the like. This is not a driving rule for driving a robot safely. Moreover, in the technique disclosed in Patent Document 2, the travel rules are not set in the environment map, but are travel rules related to obstacle avoidance operations that are updated by learning.

  Therefore, the present invention provides a mobile robot control system, a route search method, and a route search program capable of moving an autonomous mobile robot according to a route reflecting a desired travel rule without requiring installation of an infrastructure or the like. The purpose is to do.

  In the mobile robot control system according to the first aspect of the present invention, a mobile robot having a mobile device and a travel rule when the mobile robot moves in a predetermined movement area are determined in advance. A map information storage unit that stores map information including travel rule information that changes the route search cost of the predetermined movement area, and a movement start point to a movement end point based on the map information stored in the map information storage unit. A route search unit that searches for a route to reach, and a movement control unit that generates a control command value for the mobile device based on the route searched by the route search unit.

  Thereby, the mobile robot can be moved along a route reflecting a desired travel rule without requiring installation of infrastructure or the like.

  A route search method according to a second aspect of the present invention is a route search method for searching for a route followed by a mobile robot having a mobile device, wherein a travel rule when the mobile robot moves in a predetermined movement region is A step of storing map information including travel rule information that is predetermined and changes the route search cost of the predetermined movement area according to the travel rule; and based on the stored map information, And searching for a route to the movement end point. Thereby, it is possible to search for a route reflecting a desired travel rule.

  A route search program according to a third aspect of the present invention is a route search program for searching for a route followed by a mobile robot having a mobile device, and a travel rule when the mobile robot moves in a predetermined movement region is A step of storing map information including travel rule information that is predetermined and changes a route search cost of the predetermined movement area according to the travel rule; and based on the stored map information And searching for a route from the movement start point to the movement end point. Thereby, it is possible to search for a route reflecting a desired travel rule.

  According to the present invention, there is provided a mobile robot control system, a route search method, and a route search program capable of moving an autonomous mobile robot according to a route reflecting a desired traveling rule without requiring installation of an infrastructure or the like. can do.

1 is an overall view schematically showing a mobile robot control system according to a first embodiment. 1 is a schematic diagram showing a vehicle as an autonomous mobile robot according to a first embodiment. It is a figure which shows the function structure of the mobile robot control system which concerns on Embodiment 1. FIG. It is a figure which shows the map information containing the driving rule information which concerns on Embodiment 1. FIG. It is a figure for demonstrating the driving rule information which concerns on Embodiment 1. FIG. 3 is a flowchart showing a movement control process according to the first embodiment. 6 is a diagram for explaining route search processing according to Embodiment 1. FIG. FIG. 3 is a diagram showing a searched route according to the first embodiment. It is a figure which shows the function structure of the mobile robot control system which concerns on Embodiment 2. FIG. 10 is a flowchart showing a movement control process according to the second embodiment. FIG. 10 is a diagram for explaining route search processing according to the second embodiment.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. First, a schematic configuration of the mobile robot control system according to the first embodiment will be described with reference to FIG. FIG. 1 shows a mobile robot control system 100 in which a vehicle 10 as an autonomous mobile robot moves in a limited area P (a region surrounded by a broken line) on the floor 1 as a movement region by a signal from a control unit 15. 1 schematically illustrates one embodiment. In FIG. 1, objects are not shown on the area P on the floor portion 1, but there are known fixed obstacles and fixed obstacles and moving obstacles detected by an external sensor, and the vehicle 10 detects these obstacles. There is a need to avoid things.

  As shown in FIG. 2, the vehicle 10 is an opposed two-wheel vehicle including a box-shaped vehicle body 10 a, a pair of opposed left and right drive wheels 11, and casters 12. The auxiliary body 12 supports the vehicle body 10a horizontally. Furthermore, inside the vehicle main body 10a, there are a drive unit (motor) 13 for driving the left and right drive wheels 11, a counter 14 for detecting the number of rotations of the drive wheels, and a control signal for driving the drive wheels. A control unit 15 that creates and transmits the control signal to the drive unit 13 is provided. A control program for controlling the moving speed, moving direction, moving distance, etc. of the vehicle 10 based on the control signal is recorded in a storage area 15a such as a memory as a storage unit provided in the control unit 15. ing. The moving speed, the moving distance, etc. described above are obtained based on the number of rotations of the left and right drive wheels 11 detected by the counter 14.

  In addition, an external sensor 16 for recognizing an obstacle or the like appearing in the moving direction is fixed on the front surface of the vehicle main body 10a, and information such as an image and a video recognized by the external sensor 16 is controlled by the control unit 15. As a result, the moving direction and speed of the vehicle are determined according to the control program. The external sensor 16 can be configured by a sensor that detects a laser reflected by an obstacle or the like, or a CCD camera.

  Furthermore, an antenna 17 for recognizing its own position is provided on the upper surface of the vehicle body 10a. For example, position information from a GPS (not shown) is received via the transmitter 40, and the position information is received by the control unit 15. Can be accurately recognized.

  The vehicle 10 configured in this manner independently controls the drive amount of the pair of left and right drive wheels 11 so that the vehicle travels straight, moves in a curve (turns), moves backward, and rotates in place (the middle point of both drive wheels It is possible to perform moving operations such as turning around the center. Then, the vehicle 10 creates a movement route to the designated destination in the area P in accordance with a command from the control unit 15 that designates a movement location from the outside, and moves so as to follow the movement route. In order to reach the destination.

  Map information is stored in a storage area 15 a provided in the control unit 15. As map information, here, a grid map obtained by virtually depicting grid lines connecting lattice points arranged at a substantially constant interval d (for example, 10 cm) on the shape of the entire area P on the floor 1 is a map map. It is remembered. Obstacle information indicating the presence or absence of an obstacle is set for each grid in advance or in real time. The control unit 15 creates a movement route from the self-position specified on the grid map to the movement start point to the movement end point that is the destination, and moves according to the created movement route.

  FIG. 3 is a block diagram illustrating a functional configuration of the mobile robot control system included in the control unit 15. The mobile robot control system 100 includes a moving device 21 and a control unit 15. The moving device 21 includes the drive unit 13, the left and right drive wheels 11, and the auxiliary wheels 12 described above. The control unit 15 includes a self-position estimation unit 22, a route search unit 23, a movement control unit 24, and a map information storage unit 25 (15a).

  The self-position estimation unit 22 estimates current self-position information of the vehicle 10 based on the amount of movement of the vehicle 10 by the moving device 21. For example, the self-position estimation unit 22 can estimate self-position information by odometry using the rotation speed of the left and right drive wheels 11 as the movement amount of the vehicle 10. The self-position estimating unit 22 replaces the estimated position information of the vehicle 10 with its own position on the grid map and recognizes it as the self-position on the grid map. On the grid map, the location corresponding to the vehicle 10's own position, the movement start point that is the start point, and the movement direction of the vehicle 10 at the movement end point that is the goal point are specified. Note that the self-position information estimation method is not limited to this, and position information from GPS or the like may be received as described above.

  The route search unit 23 searches for a route from the start to the goal based on the map information stored in the map information storage unit 25 (15a). Here, as a route search method, known means such as an A * search algorithm or a Dijkstra method can be used.

  The movement control unit 24 generates a control command value for controlling the mobile device 21 based on the route information searched by the route search unit 23. The movement control device 21 controls the drive unit 13 based on the control command value input from the movement control unit 24.

  The map information stored in the map information storage unit 25 (15a) includes obstacle information indicating the presence or absence of obstacles present in the environment, and travel rule information reflecting the travel rules when the vehicle 10 moves. Yes. The obstacle information is set for each grid in advance or in real time. Further, a travel rule when the vehicle 10 moves in a predetermined movement area by a person is determined in advance, and is set in the map information as the travel rule information. For example, as the travel rule, right (left) side traffic that allows the vehicle 10 to pass through the area on the right (left) side of the hallway may be mentioned. The travel rule information is information reflecting such a travel rule, and, as will be described later, when the route search unit 23 performs a route search, the route search cost of a predetermined moving area according to the set travel rule. Used to change

  FIG. 4 is a diagram showing a grid map as map information including travel rule information. In the figure, obstacle areas such as walls are indicated by hatching in the lower right direction. The movement of the vehicle 10 is prohibited in these obstacle areas. Further, as an example of the travel rule information, a white arrow that determines the moving direction of the vehicle 10 is associated with each grid. That is, the moving direction (running rule) when the vehicle 10 passes through the area corresponding to each grid is determined in advance, and a white arrow indicating the moving direction of the vehicle 10 in each grid is written on the grid map. Has been.

  FIG. 5 is a diagram for explaining a white arrow (travel rule information) indicating the moving direction of the vehicle 10. In the example shown in the figure, the vehicle 10 can move from the grid in which it is currently located to eight neighboring grids, and the movement directions are associated as vectors D1 to D8, respectively. That is, the travel rule information includes the correspondence between each grid on the grid map and the vectors D1 to D8. The black circles on the grid shown in FIG. 4 indicate that the vehicle 10 may be moved in any direction indicated by the vectors D1 to D8. In other words, for the black circle grid, All vectors D1 to D8 are associated with each other. The number of neighboring grids that can be moved is not limited to eight, and the moving direction of the vehicle 10 may be increased or decreased.

  Furthermore, in the example illustrated in FIG. 4, a non-recommended area in which the movement of the vehicle 10 is not actively recommended is set. In the figure, the non-recommended area is indicated by hatching in the lower left direction. A higher route search cost is set in the non-recommended area as compared with other areas in which the vehicle 10 can move. For example, when the route search cost of another area where the vehicle 10 can move is 1 point, the route search cost of the non-recommended area is set as 2 points. In order to set the route search cost, the travel rule information includes a correspondence between each grid and the route search cost of each grid. By setting a higher route search cost for a non-recommended region, when searching for a route, the route search for a route that passes through a non-recommended region is compared to the route search cost of a route that passes through another region. Since the cost becomes higher, the vehicle 10 can be searched for a route that avoids the non-recommended region.

  Next, control processing by the mobile robot control system 100 will be described with reference to FIGS. FIG. 6 is a flowchart showing control processing by the mobile robot control system 100. FIG. 7 is a diagram for explaining route search processing by the mobile robot control system 100. FIG. 8 is a diagram showing a route searched by the mobile robot control system 100.

  In FIG. 6, first, the mobile robot control system 100 calculates the self-position of the vehicle 10 based on the movement amount of the vehicle 10 (step S101). Then, map information including travel rule information is read from the map information storage unit 25 (15a) (step S102).

  Next, the mobile robot control system 100 executes a route search process based on the self-location information and the map information including the travel rule information (Step S103). In the route search process, eight neighboring grids to which the vehicle 10 can move are used as search target grids, and a graph is searched for the next grid from the search target grid. Each grid is set with a route search cost, and the map information includes a correspondence between each grid and the route search cost. In the route search process, the route from the start to the goal is searched by continuously selecting a grid so that the total search cost (that is, the route evaluation value) of the route including the search target grid series is minimized. In the mobile robot control system 100 according to the first embodiment, the route search cost of each grid for which the travel rule is determined is changed using the travel rule information.

  Here, the route search cost in the route search process will be specifically described with reference to FIG. As shown in FIG. 7A, in the route search process, the search direction in which the route search is advanced (that is, the direction in which the vehicle 10 may move) is indicated by a black arrow. Moreover, the moving direction (vector D1-vector D8) of the vehicle 10 matched with the search object grid contained in driving rule information is shown by a white arrow. Furthermore, here, the search is performed for each search target grid (G1 to G8) in the order indicated by the broken-line arrows.

  The mobile robot control system 100 calculates the inner product of the search direction for performing the route search and the movement direction (vector D1 to vector D8) of the vehicle 10 associated with the search target grid, and the calculated inner product value increases. The route search cost of the search target grid is set to a smaller value than the route search costs of other search target grids. Therefore, for example, when the search direction and the movement direction (vector D1 to vector D8) are the same direction, the route search cost of the search target grid is set to the smallest value. Accordingly, as shown in FIG. 7B, the route search cost (cost G (1), cost G (2)) for the search target grids G1 and G2 is set to a small value, and the route for the search target grids G3 to G8. The search cost (cost G (3) to cost G (8)) is set to a large value. The route search cost is set by adding or subtracting a predetermined value to the route search cost of the search target grid with reference to the route search cost of the grid in which the travel rule information is not set. Good.

  FIG. 8 shows a route search processing result for the grid map shown in FIG. FIG. 8 shows a searched route from the start to the goal. In the example shown in FIG. 8, a route that can move the vehicle 10 along the wall is searched by setting the route search cost of the grid along the wall to be small according to the travel rule information that passes along the wall. Yes.

  Next, the mobile robot control system 100 generates a control command value (step S104). And a control command value is input into the drive part 13 of the moving apparatus 21, and the vehicle 10 is moved (step S105). The mobile robot control system 100 determines whether or not the vehicle 10 has arrived at the goal (movement end point) (step S106). When the vehicle 10 has arrived at the goal, the control process is terminated. If it has not yet arrived at the goal, the process returns to step S104 and continues.

  Thus, according to the mobile robot control system 100 according to the first embodiment, the vehicle 10 can be moved along a route reflecting a desired travel rule without requiring installation of infrastructure or the like. Furthermore, since the searched route is the shortest route among the routes according to the travel rules, the vehicle 10 can efficiently move to the goal.

Embodiment 2. FIG.
Next, a second embodiment of the present invention will be described with reference to FIGS. The mobile robot control system according to the second embodiment detects obstacle position information while the vehicle 10 is moving, and based on the detected obstacle position information and the map information described in the first embodiment, the route It is characterized by performing a search. In the following, description of the same configuration and operation as those of the first embodiment will be omitted.

  FIG. 9 is a block diagram illustrating a functional configuration of the mobile robot control system included in the control unit 15 according to the second embodiment. The mobile robot control system 100 includes an external sensor 16 and an obstacle map generation unit 26 in addition to the configuration described with reference to FIG.

  The external sensor 16 detects position information of an obstacle present in the environment. Here, the external sensor 16 measures the distance data from the vehicle 10 to the obstacle and inputs it to the obstacle map generation unit 26.

  The obstacle map generation unit 26 generates an obstacle map based on the distance data detected by the external sensor 26. Here, the obstacle map generation unit 26 generates a grid map as the obstacle map information. Instead of generating a new obstacle map (grid map) based on the detected distance data, the obstacle map information based on the detected distance data is used for the map information stored in the map information storage unit 25 (15a). May be included.

  The route search unit 23 searches for a route from the current own position to the goal based on the map information stored in the map information storage unit 25 (15a) and the obstacle map generated by the obstacle map generation unit 26. To do. Thereby, it is possible to search for a route to the goal while avoiding an obstacle detected while the vehicle 10 is moving.

  Subsequently, control processing by the mobile robot control system 100 according to the second embodiment will be described with reference to FIGS. 10 and 11. FIG. 10 is a flowchart showing control processing by the mobile robot control system 100. FIG. 11 is a diagram for explaining route search processing by the mobile robot control system 100. In the following, the route search process is executed in advance as described in the first embodiment, and the searched route from the start to the goal is already set in the map information in the map information storage unit 25 (15a). It shall be. And the situation where the vehicle 10 is moving along the searched route while detecting an obstacle will be described.

  In FIG. 10, first, the mobile robot control system 100 calculates the self-position of the vehicle 10 based on the amount of movement of the vehicle 10 (step S201). Then, an obstacle map is generated from the detected distance data (step S202). In addition, map information including travel rule information is read from the map information storage unit 25 (15a) (step S203).

  Next, the mobile robot control system 100 refers to the obstacle map and determines whether or not a route re-search is necessary (step S204). That is, when the detected obstacle exists on the route set in the map information storage unit 25 (15a), the vehicle 10 needs to perform an operation such as avoiding the obstacle or stopping the movement. There is. For this reason, the mobile robot control system 100 determines whether or not a route re-search is necessary. If there is no need for re-searching, the process proceeds to step S206 on the assumption that it is moved along the route set in the map information storage unit 25 (15a).

  If re-searching is necessary, the mobile robot control system 100 executes route search processing based on the self-location information, the obstacle map, and the map information including the travel rule information (step S204). In the mobile robot control system 100 according to the second embodiment, the route search cost of the search target grid is determined based on the travel rule information and the obstacle position information. Specifically, first, each route search is performed on search target grids having the same X and Y coordinates on the two maps of the map information including the travel rule information and the obstacle map including the obstacle position information. Calculate the cost. Then, the route search cost reflecting the obstacle position information is determined by summing the calculated route search costs on each map. Then, the grid with the lowest determined route search cost is selected, and the route search process is executed. In addition, about the process which determines route search cost using the map information containing driving rule information, since it is the same as Embodiment 1 mentioned above, the description is abbreviate | omitted.

  Here, the route search cost on the obstacle map in the route search process will be specifically described with reference to FIG. FIG. 11A is a grid map including obstacle position information detected by the external sensor 16. Grids indicated by hatching with diagonal lines in the lower left direction indicate obstacle grids, and a route search cost corresponding to the presence or absence of obstacles is set in each of these grids. As shown in FIG. 11A, in the route search process, a search direction in which the route search is advanced (that is, a direction in which the vehicle 10 may move) is indicated by a black arrow. Here, the search is performed for each search target grid in the order indicated by the dashed arrows.

  When the mobile robot control system 100 detects an obstacle with the external sensor 16, the route search cost of the grid corresponding to the area where the obstacle exists is set to a larger value than the route search cost of other grids. To do. Therefore, as shown in FIG. 11B, route search costs for the grids G2 to G4 and the grids G6 to G8 (cost G (2) to cost G (4), cost G (6) to cost G ( 8)) is set to a small value, and the route search costs (cost G (1), cost G (5)) for the grids G1 and G5 are set to large values. The route search cost is set by adding or subtracting a predetermined value to the route search cost of the obstacle grid with reference to the route search cost of the grid in which the obstacle position information is not set. That's fine.

  Next, the mobile robot control system 100 generates a control command value (step S206). And a control command value is input into the drive part 13 of the moving apparatus 21, and the vehicle 10 is moved (step S207). The mobile robot control system 100 determines whether or not the vehicle 10 has arrived at the goal (movement end point) (step S208). When the vehicle 10 has arrived at the goal, the control process is terminated. If it has not yet arrived at the goal, the process returns to step S201 and continues.

  As described above, according to the mobile robot control system 100 according to the second embodiment, it is possible to detect an obstacle that is not set in advance in the map information by moving according to the route while detecting the obstacle. At the same time, a route that can avoid the detected obstacle can be searched for in real time.

Other Embodiments In the above-described embodiments, it has been described that the moving direction when the vehicle 10 moves in a predetermined moving area is defined as the travel rule, but the present invention is not limited to this. That is, in addition to the moving direction, the moving speed when the vehicle 10 moves in a predetermined moving area may be set as a travel rule.

  For example, the travel rule includes an instruction of the moving speed of the vehicle 10 in a predetermined moving area. The travel rule information is information reflecting such a travel rule. The travel rule information may be used to change the route search cost of a predetermined movement area in accordance with the set movement speed instruction when the route search unit 23 performs a route search, or the movement control unit When the control command value is generated by the control unit 24, the control command value may be generated with the instructed moving speed as the target speed.

  Further, for example, when the vehicle 10 is decelerated in a predetermined movement area, the route search cost of the search target grid corresponding to the predetermined movement area is set to a large value, and as a result, the route of the searched route The evaluation value can be made larger. Thereby, the movement time for the vehicle 10 to reach the goal can be made longer, and the vehicle 10 can be decelerated in the region to be decelerated.

  Furthermore, in the above-described embodiment, the route search process has been described based on one type of map information including travel rule information, but the present invention is not limited to this. That is, as a travel rule, a travel rule for each time zone when the vehicle 10 moves in a predetermined movement area is determined in advance, and a plurality of map information for each time zone is stored in the map information storage unit 25 (15a). Also good. Thereby, a route search process can be performed based on the map information which switched the moving direction and moving speed which are driving rules by a time slot | zone. Further, the layout information of the environment (information on obstacles such as walls) set in the map information may be switched according to time zones.

  Moreover, although each embodiment mentioned above demonstrated as what the control part 15 of the vehicle 10 has a route search function, this invention is not limited to this. The route search function is realized by, for example, a computer mounted on the vehicle 10 or a computer provided separately from the vehicle 10. The computer includes, for example, a central processing unit (CPU), an auxiliary storage device such as a ROM, a RAM, and a hard disk, a storage medium driving device into which a portable storage medium such as a CD-ROM is inserted, an input unit, and an output unit. Yes. In a storage medium such as a ROM, an auxiliary storage device, or a portable storage medium, an application program can be recorded by giving instructions to the CPU in cooperation with the operating system, and executed by being loaded into the RAM. . This application program includes a unique route search program for realizing the route search function according to the present invention. The route search by the route search program is executed by the central processing unit developing the application program on the RAM, reading the data stored in the auxiliary storage device and executing the processing according to the application program, and storing it. The

  In addition, this invention is not limited to each embodiment mentioned above, In the range which does not deviate from the meaning, it can change suitably.

DESCRIPTION OF SYMBOLS 1 Floor part, 10 Vehicle, 10a Vehicle main body, 11 Left-right drive wheel, 12 Auxiliary wheel,
13 drive unit (motor), 14 counter, 15 control unit, 15a storage area,
16 external sensor, 17 antenna, 100 mobile robot control system,
21 mobile device, 22 self-position estimation unit, 23 route search unit, 24 movement control unit,
25 (15a) Map information storage unit, 26 Obstacle map generation unit,
40 Transmitter, P area, G1-G8 grid

Claims (15)

A mobile robot having a mobile device;
A travel rule when the mobile robot moves in a predetermined movement area is predetermined, and a map information storage unit that stores map information including travel rule information reflecting the travel rule;
A route search unit for searching for a route from the movement start point to the movement end point based on the map information stored in the map information storage unit;
Based on the route searched by the route search unit, a movement control unit that generates a control command value for the mobile device;
Equipped with a,
The map information is a grid map composed of grids divided in a grid pattern, and a route search cost is associated with each grid,
As the travel rule information, a movement direction when the mobile robot moves in a predetermined movement area is determined in advance, and the movement direction is associated with each grid corresponding to the predetermined movement area,
The route search unit
The route search cost of the search target grid is set to be smaller than the route search costs of other search target grids according to the degree of coincidence between the route search direction of the search target grid and the movement direction in the predetermined movement region. A mobile robot control system for determining a route from the movement start point to the movement end point based on a route evaluation value calculated based on the set route search cost . As the traveling rule, a moving speed when the mobile robot moves in the predetermined moving area is predetermined,
The map information is
Further comprising a moving speed rule information indicating the moving speed when moving the predetermined moving area,
The movement control unit
The mobile robot control system according to claim 1, wherein the control command value of the mobile device is generated based on the route searched by the route search unit and the moving speed rule information. As the travel rule, a travel rule for each time zone when the mobile robot moves in the predetermined movement area is predetermined,
The map information storage unit
The mobile robot control system according to claim 1 or 2 , wherein a plurality of map information for each time zone is stored. A self-position estimating unit for estimating current self-position information of the mobile robot;
The route search unit
The mobile robot control system according to any one of claims 1 to 3, wherein a route from the current self-position estimated by the self-position estimation unit to the movement end point is searched. A self-position estimation unit that estimates current self-position information of the mobile robot;
An obstacle position detector for detecting position information of obstacles existing in the environment;
An obstacle map generator that generates an obstacle map based on the obstacle position information detected by the obstacle position detector;
The route search unit
Based on the map information stored in the map information storage unit and the obstacle map generated by the obstacle map generation unit, a route from the current self position estimated by the self position estimation unit to the movement end point is obtained. The mobile robot control system according to claim 1, wherein searching is performed. The route search unit
Based on the obstacle map and the current self-position, it is determined whether or not to re-search for a route from the current position to the movement end point. The mobile robot control system according to claim 5 , wherein a route from the current own position to the moving end point is searched based on the map information and the obstacle map. The route search unit
Based on the obstacle map and the current self-position, when re-searching a route from the current position to the movement end point,
A route evaluation value is calculated based on a route search cost set in the map information and a route search cost set on the obstacle map according to the presence or absence of the obstacle, and the calculated route evaluation The mobile robot control system according to claim 6 , wherein a route from the current self-position to the movement end point is determined by a value. A route search method for searching for a route followed by a mobile robot having a mobile device,
A travel rule when the mobile robot moves in a predetermined movement area is predetermined, and storing map information including travel rule information reflecting the travel rule;
Searching for a route from a movement start point to a movement end point based on the stored map information;
I have a,
The map information is a grid map composed of grids divided in a grid pattern, and a route search cost is associated with each grid,
As the travel rule information, a movement direction when the mobile robot moves in a predetermined movement area is determined in advance, and the movement direction is associated with each grid corresponding to the predetermined movement area,
The step of searching for the route includes:
The route search cost of the search target grid is set smaller than the route search costs of other search target grids according to the degree of coincidence between the route search direction of the search target grid and the movement direction in the predetermined movement region. Steps,
Determining a route from the movement start point to the movement end point based on a route evaluation value calculated based on the set route search cost . As the traveling rule, a moving speed when the mobile robot moves in the predetermined moving area is predetermined,
The stored map information is
Further comprising a moving speed rule information indicating the moving speed when moving the predetermined moving area,
The route search method according to claim 8 . As the travel rule, a travel rule for each time zone when the mobile robot moves in the predetermined movement area is predetermined,
The step of storing the map information includes:
The route search method according to claim 8 or 9 , wherein a plurality of map information for each time zone is stored. Further comprising estimating current self-location information of the mobile robot;
The step of searching for the route includes:
The route search method according to any one of claims 8 to 10 , wherein a route from the estimated current self-position to the movement end point is searched. Estimating current self-location information of the mobile robot;
Detecting position information of obstacles existing in the environment;
Generating an obstacle map based on the detected obstacle position information,
The step of searching for the route includes:
The route search method according to claim 8 , wherein a route from the estimated current self-position to the movement end point is searched based on the stored map information and the generated obstacle map. . The step of searching for the route includes:
Further comprising determining whether to re-search for a route from the current position to the movement end point based on the obstacle map and the current self-position;
The result of the determination, if the re-search based on said map information and the obstacle map, wherein the current self-position to claim 12, characterized in that searching for a route to the moving end point Route search method. The step of searching for the route includes:
Based on the obstacle map and the current self-position, when re-searching a route from the current position to the movement end point,
Calculating a route evaluation value based on a route search cost set in the map information and a route search cost set on the obstacle map according to the presence or absence of the obstacle;
The route search method according to claim 13 , further comprising: determining a route from the current self position to the movement end point based on the calculated route evaluation value. A route search program for searching for a route followed by a mobile robot having a mobile device,
A traveling rule when the mobile robot moves in a predetermined movement area is predetermined,
Against the computer,
Storing map information including travel rule information reflecting the travel rules;
Searching for a route from a movement start point to a movement end point based on the stored map information;
Was executed,
The map information is a grid map composed of grids divided in a grid pattern, and a route search cost is associated with each grid,
As the travel rule information, a movement direction when the mobile robot moves in a predetermined movement area is determined in advance, and the movement direction is associated with each grid corresponding to the predetermined movement area,
The step of searching for the route includes:
The route search cost of the search target grid is set smaller than the route search costs of other search target grids according to the degree of coincidence between the route search direction of the search target grid and the movement direction in the predetermined movement region. Steps,
Determining a route from the movement start point to the movement end point based on a route evaluation value calculated based on the set route search cost .

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