JP7845192B2 - 経路計画装置 - Google Patents

経路計画装置

Info

Publication number
JP7845192B2
JP7845192B2 JP2022568130A JP2022568130A JP7845192B2 JP 7845192 B2 JP7845192 B2 JP 7845192B2 JP 2022568130 A JP2022568130 A JP 2022568130A JP 2022568130 A JP2022568130 A JP 2022568130A JP 7845192 B2 JP7845192 B2 JP 7845192B2
Authority
JP
Japan
Prior art keywords
goal
moving
behavior
robot
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022568130A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022124004A1 (https=
JPWO2022124004A5 (https=
Inventor
大輔 福永
典史 吉川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Corp
Sony Group Corp
Original Assignee
Sony Corp
Sony Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Corp, Sony Group Corp filed Critical Sony Corp
Publication of JPWO2022124004A1 publication Critical patent/JPWO2022124004A1/ja
Publication of JPWO2022124004A5 publication Critical patent/JPWO2022124004A5/ja
Application granted granted Critical
Publication of JP7845192B2 publication Critical patent/JP7845192B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/693—Coordinated control of the position or course of two or more vehicles for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
JP2022568130A 2020-12-09 2021-11-12 経路計画装置 Active JP7845192B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020204418 2020-12-09
JP2020204418 2020-12-09
PCT/JP2021/041712 WO2022124004A1 (ja) 2020-12-09 2021-11-12 経路計画装置

Publications (3)

Publication Number Publication Date
JPWO2022124004A1 JPWO2022124004A1 (https=) 2022-06-16
JPWO2022124004A5 JPWO2022124004A5 (https=) 2024-11-08
JP7845192B2 true JP7845192B2 (ja) 2026-04-14

Family

ID=81974340

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022568130A Active JP7845192B2 (ja) 2020-12-09 2021-11-12 経路計画装置

Country Status (3)

Country Link
US (1) US12339668B2 (https=)
JP (1) JP7845192B2 (https=)
WO (1) WO2022124004A1 (https=)

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* Cited by examiner, † Cited by third party
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CN117303258A (zh) * 2023-08-25 2023-12-29 红塔烟草(集团)有限责任公司 一种基于agv的整托盘自动化装卸方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006133863A (ja) 2004-11-02 2006-05-25 Honda Motor Co Ltd ロボット制御装置

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JP2009025898A (ja) * 2007-07-17 2009-02-05 Toyota Motor Corp 経路計画装置、経路計画方法及び移動体
US20110130905A1 (en) * 2009-12-01 2011-06-02 Ise Corporation Remote Vehicle Monitoring and Diagnostic System and Method
US20170118307A1 (en) * 2014-03-26 2017-04-27 Here Global B.V. Method and apparatus for identifying parking spaces for a group of vehicles
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KR102466735B1 (ko) * 2016-11-26 2022-11-14 팅크웨어(주) 경로 안내를 위한 장치, 방법, 컴퓨터 프로그램 및 컴퓨터 판독 가능한 기록 매체
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JP2006133863A (ja) 2004-11-02 2006-05-25 Honda Motor Co Ltd ロボット制御装置

Also Published As

Publication number Publication date
US12339668B2 (en) 2025-06-24
JPWO2022124004A1 (https=) 2022-06-16
US20240004401A1 (en) 2024-01-04
WO2022124004A1 (ja) 2022-06-16

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