WO2014181647A1

WO2014181647A1 - Autonomous moving body movement control device, autonomous moving body, and autonomous moving body control method

Info

Publication number: WO2014181647A1
Application number: PCT/JP2014/060716
Authority: WO
Inventors: 英生下本
Original assignee: 村田機械株式会社
Priority date: 2013-05-07
Filing date: 2014-04-15
Publication date: 2014-11-13
Also published as: JP6135289B2; JP2014219799A

Abstract

An objective of the present invention is to control an autonomous moving body to travel precisely along a taught travel path without carrying out unnecessary avoidance travel. A movement control device (2) of an autonomous moving body (100), comprising a movement unit (1), and a detection unit (3), and which moves to reproduce a pre-planned travel path, comprises a computation unit (241), a determination unit (243), and a movement control unit (245). The computation unit (241) computes a predicted travel trajectory (T), on the basis of a present location of the autonomous moving body (100), travel path information (T_n) which represents a travel path to a future location which is a location which is traveled a prescribed distance from the present location, and an autonomous moving body region (A) having a prescribed shape which encompasses the autonomous moving body (100). The determination unit (243) determines whether an obstacle (S) which the detection unit (3) detects and the predicted travel trajectory (T) interfere with one another. If it is determined in the determination unit (243) that the obstacle (S) and the predicted travel trajectory (T) do not interfere with one another, the movement control unit (245) creates a movement command which controls the movement unit (1) to reproduce the predicted travel trajectory (T) which is computed by the computation unit (241).

Description

Autonomous mobile object movement control device, autonomous mobile object, and autonomous mobile object control method

The present invention relates to an autonomous mobile body that autonomously travels while detecting an obstacle with a sensor, a movement control device for the autonomous mobile body, and a control method for the autonomous mobile body.

Conventionally, an autonomous mobile body that autonomously travels while detecting an obstacle by a sensor is known. For example, in Patent Document 1, an autonomous moving body is not approximated by a circular model, and the posture angle of the autonomous moving body is changed using an anisotropic model having an anisotropy having a major axis and a minor axis. An autonomous mobile body that avoids obstacles by parallel translation is disclosed.
The autonomous mobile body of patent document 1 avoids an obstacle using the potential regarding the translation of an autonomous mobile body, and the potential regarding rotation.

The potential method used to avoid an obstacle in Patent Document 1 generates an attractive potential for a destination and a repulsive potential for an obstacle to be avoided, and is controlled by a gradient of a force field obtained by superimposing these potentials. It is a method of generating a quantity.

JP 2011-108129 A

In the obstacle avoidance method using the potential method of Patent Document 1, a large repulsive potential works when the autonomous mobile body approaches the obstacle. For this reason, even when an obstacle can be avoided without originally performing an avoidance action, the autonomous mobile body performs an operation to avoid the obstacle. When the autonomous mobile body performs such a useless avoidance action, the autonomous mobile body may not be able to travel faithfully along the travel route taught by the user.

An object of the present invention is to control an autonomous mobile body so as to travel faithfully on a travel route (planned travel route) taught by a user without performing useless obstacle avoidance behavior.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
A movement control device for an autonomous mobile body according to an aspect of the present invention includes a movement unit and a detection unit that detects an obstacle, and the movement control of the autonomous mobile body moves so as to reproduce a pre-created scheduled travel route. Device.
The movement control device for an autonomous mobile body includes a calculation unit, a determination unit, and a movement control unit. The calculation unit includes an autonomous mobile object having a predetermined shape including a current position of the autonomous mobile body, travel route information representing a travel path to a future position that is a position traveled a predetermined distance from the current position, and an autonomous mobile object Based on the body region, an expected traveling locus from the current position to the future position is calculated. The determination unit determines whether or not the obstacle detected by the detection unit and the predicted traveling locus interfere with each other. A movement control part produces the movement command which controls a movement part so that the prediction driving | running | working locus | trajectory calculated by the calculating part may be reproduced, when a judgment part determines that an obstruction and an estimated driving | running | working locus do not interfere.

In this movement control device, first, the calculation unit creates an expected traveling locus based on the traveling route information and the autonomous mobile body region. Next, the determination unit determines whether or not the obstacle detected by the detection unit of the autonomous mobile body and the predicted traveling locus interfere with each other. Then, if the movement control unit determines that the obstacle and the predicted traveling locus do not interfere with each other in the determining unit, the movement control unit creates a movement command for controlling the moving unit of the autonomous mobile body so as to reproduce the predicted traveling locus. .

In this movement control device, the determination as to whether or not the autonomous mobile body and the obstacle collide is based on the determination as to whether or not the predicted traveling locus and the obstacle interfere with each other. Thereby, it can be judged with higher accuracy whether an autonomous moving body takes avoidance action against an obstacle. As a result, the autonomous mobile body can travel more faithfully on the planned travel route taught by the user without performing useless avoidance action on the obstacle.

The shape of the autonomous mobile body region in the plane of movement of the autonomous mobile body may have anisotropy. In this case, the travel route information may include position information on the travel route of the autonomous mobile body and posture information of the autonomous mobile body on the travel route.
Thereby, the calculating part can create a more accurate predicted traveling locus in consideration of the shape and posture of the autonomous mobile body. As a result, the determination unit can more reliably determine whether the obstacle and the autonomous mobile body interfere with each other.

The shape of the autonomous moving body area on the moving plane may be an ellipse. Thereby, the determination unit can determine whether the obstacle and the autonomous mobile body interfere with each other with fewer operations.

The travel route information may further include time information on the travel route of the autonomous mobile body. Thereby, the movement control part can create a movement command by a simpler calculation. In addition, since the travel route information can be expressed as discrete information (array), the structure of the travel route information can be simplified.

The calculation unit may include a base point generation unit, a rotating autonomous mobile region generation unit, and an expected travel locus generation unit. The base point generation unit generates a plurality of base points on the travel route as position information of the travel route information. The rotation autonomous mobile body region generation unit generates the rotation autonomous mobile body region by rotating the autonomous mobile body region around the normal axis of the movement plane based on the posture information of the travel route information. The predicted travel locus generation unit generates the predicted travel locus by arranging the rotation autonomous mobile body region generated by the rotation autonomous mobile body region generation unit on each of the base points generated by the base point generation unit. . Thereby, the calculating part can create an expected traveling locus by a simpler calculation.

The planned travel route may be composed of a plurality of travel target points. In this case, the base point generation unit may include a target point extraction unit, a target point selection unit, a calculation unit, and a base point arrangement unit. The target point extraction unit is closest to the current position among the travel target points that are located outside the first circle having a predetermined first radius centered on the current position from the current position, And the front travel target point which is a travel target point to the 1st travel target point which exists ahead in the advancing direction rather than the present position is extracted. The target point selection unit extracts the second travel target point that is the shortest distance from the current position among the forward travel target points existing outside the second circle having the predetermined second radius centered on the current position. To do. The calculation unit calculates a virtual travel target point that is an intersection of a line connecting the current position and the second travel target point and the circumference of the second circle. The base point arrangement unit sets the current position, the virtual travel target point, the second travel target point, and the forward travel target points between the second travel target point and the first travel target point in order from the current position. Base points are arranged at predetermined intervals on the travel route formed by tying.
Thereby, even if the autonomous mobile body is at a position slightly deviated from the planned travel route, the autonomous mobile body can travel on the planned travel route faithfully by correcting this positional shift.

The movement control unit may stop the autonomous moving body if the determination unit determines that the obstacle and the predicted traveling locus interfere with each other if the interference position is close to the current position. Further, the moving unit may be controlled so as to decelerate the autonomous mobile body if it is at a distance far from the current position. Thereby, the autonomous mobile body can drive | work a driving | running route more faithfully, without colliding with an obstruction.

The movement control unit may control the moving unit so as to stop the autonomous moving body when the determination unit determines that the obstacle and the predicted traveling locus interfere with each other. Thereby, the autonomous mobile body does not collide with the obstacle.

An autonomous moving body according to another aspect of the present invention includes a moving unit, a detecting unit, and the above movement control device.

In this autonomous mobile body, the determination as to whether or not the autonomous mobile body and the obstacle collide is based on the determination as to whether or not the predicted traveling locus and the obstacle interfere with each other. Thereby, it can be judged with higher accuracy whether an autonomous moving body takes avoidance action against an obstacle. As a result, the autonomous mobile body can travel more faithfully on the planned travel route without performing useless avoidance action on the obstacle.

An autonomous mobile body control method according to still another aspect of the present invention includes a mobile unit and a detection unit that detects an obstacle, and controls an autonomous mobile body that moves so as to reproduce a planned travel route that has been created in advance. Is the method.
The autonomous mobile control method includes the following steps.
◎ Current position of the autonomous mobile body, travel route information representing a travel route to a future position that is a position traveled a predetermined distance from the current position, and an autonomous mobile body region having a predetermined shape including the autonomous mobile body Based on the above, a step of calculating an expected travel locus from the current position to the future position.
A step of determining whether or not the obstacle detected by the detection unit interferes with the expected traveling locus.
A step of controlling the moving unit so as to reproduce the calculated predicted traveling locus when it is determined that the obstacle and the predicted traveling locus do not interfere with each other.

In this autonomous mobile body control method, the determination as to whether or not the autonomous mobile body and the obstacle collide is based on the determination as to whether or not the predicted travel locus and the obstacle interfere with each other. Thereby, it can be judged with higher accuracy whether an autonomous moving body takes avoidance action against an obstacle. As a result, the autonomous mobile body can travel faithfully on the planned travel route without performing useless avoidance action on the obstacle.

∙ It is possible to travel faithfully on the planned travel route without performing unnecessary obstacle avoidance actions.

Diagram showing the configuration of an autonomous mobile body Diagram showing the configuration of the operation unit The figure which shows the whole structure of a movement control apparatus Diagram showing the configuration of the travel control unit Diagram showing an elliptical autonomous mobile region Diagram showing rotating autonomous moving body area Diagram showing the configuration of the calculation unit The figure which shows the structure of the base point production | generation part which concerns on 1st Embodiment. Flow chart showing autonomous running operation of autonomous mobile body Flow chart showing a method for generating an expected travel locus The figure which shows typically the driving | running route and base point which are produced | generated in the production | generation method of an estimated driving | running locus | trajectory The figure which shows typically the production | generation of the rotation autonomous mobile body area | region in the production | generation method of an estimated driving | running track Diagram showing the expected travel path Flow chart showing base point generation method The figure which shows the positional relationship of the present position of the center V of the autonomous mobile body area | region A, a scheduled driving | running route, and the driving target point P0 which is not selected. The figure which shows the positional relationship of the circle | round | yen which has a predetermined radius, a 1st driving | running | working target point, and a 2nd driving | running | working target point. The figure which shows the positional relationship of line segment P1P2 and virtual driving | running | working target point VP. Diagram showing travel route generation Diagram showing the arrangement of base points on the travel route Flow chart illustrating a method for determining interference between an obstacle and an expected travel path Diagram showing six obstacles on moving coordinates Shows the placement of the movement coordinate of the autonomous moving body region and six obstacles in the base point B ₆ The figure which shows arrangement | positioning of the autonomous mobile body area | region and an obstruction in a 2nd movement coordinate The figure which shows arrangement | positioning of the autonomous mobile body area | region and an obstruction in a 3rd movement coordinate The figure which shows arrangement | positioning of the autonomous mobile body area | region and an obstruction in a 4th movement coordinate The figure which shows the structure of the base point production | generation part which concerns on 2nd Embodiment. The flowchart which shows the base point production | generation method in the base point production | generation part which concerns on 2nd Embodiment. The figure which shows the positional relationship of the present position of the center V of the autonomous mobile body area | region A in 2nd Embodiment, a scheduled driving | running route, a 1st circle | round | yen, a 1st driving | running | working target point, and the driving | running | working target point which is not selected. The figure which shows the positional relationship of the 2nd circle | round | yen in 2nd Embodiment, and a 2nd driving | running | working target point. The figure which shows the positional relationship of the virtual driving | running | working target point VP in 2nd Embodiment. The figure which shows the production | generation of the travel route in 2nd Embodiment. The figure which shows arrangement | positioning of the base point in 2nd Embodiment.

1. First Embodiment (1) Overall Configuration of Autonomous Mobile Body First, the overall configuration of an autonomous mobile body according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating a configuration of an autonomous mobile body. The autonomous mobile body 100 according to the present embodiment is a mobile body that can travel autonomously while reproducing a route (scheduled travel route) taught by a user.
The autonomous mobile body 100 includes a moving unit 1, a movement control device 2, a detection unit 3, and an operation unit 5. The moving unit 1 moves the autonomous mobile body 100. The detection unit 3 is connected to the movement control device 2. Then, the detection unit 3 detects an obstacle S (described later) and outputs position information of the obstacle S to the movement control device 2. The operation unit 5 is fixed to the main body 7 of the autonomous mobile body 100 via an attachment member 9. The operation unit 5 is connected to the movement control device 2 so that signals can be transmitted and received. The operation unit 5 is operated by the user when the user teaches the planned traveling route to the autonomous mobile body 100 (teaching mode). Thereby, when the traveling mode of the autonomous mobile body 100 is the teaching mode, the autonomous mobile body 100 is controlled based on the operation of the operation unit 5 by the user. In addition, the operation unit 5 performs various settings of the autonomous mobile body 100.
It is assumed that the front side of the autonomous mobile body 100 is the side opposite to the side on which the operation unit 5 is attached.

The movement control device 2 is electrically connected to the moving unit 1. The movement control device 2 is connected to a detection unit 3. When the traveling mode of the autonomous mobile body 100 is the teaching mode, the movement control device 2 controls the moving unit 1 based on the operation of the operating unit 5 by the user. On the other hand, when the traveling mode of the autonomous mobile body 100 is a mode in which the autonomous mobile body 100 moves autonomously (autonomous movement mode), the movement control device 2 creates a movement command for the autonomous mobile body 100. And the movement control apparatus 2 controls the moving part 1 based on the produced movement command.
Further, the movement control device 2 grasps the position information of the obstacle S. Then, the movement control device 2 determines whether the obstacle S and the autonomous mobile body 100 interfere with each other based on the position information of the obstacle S.
The details of the configuration of the moving unit 1, the movement control device 2, the detection unit 3, and the operation unit 5 of the autonomous moving body 100 will be described later.

The autonomous mobile body 100 further includes an auxiliary wheel unit 8. The auxiliary wheel portion 8 has two

auxiliary wheels

8a and 8b. The two

auxiliary wheels

8a and 8b are attached so that each can rotate independently. By providing the auxiliary wheel part 8, the autonomous mobile body 100 can move stably and smoothly.
In addition, when the moving part 1 itself has the structure which can drive | work the autonomous mobile body 100 stably, when the moving part 1 has two or more wheels, the auxiliary wheel part 8 may not be provided.

(2) Configuration of Moving Unit Next, the configuration of the moving unit 1 will be described in detail with reference to FIG. The moving unit 1 includes two

main wheels

11a and 11b and two

motors

13a and 13b. In the moving part 1 of this embodiment, each

main wheel

11a, 11b can rotate independently. In the moving unit 1 having such a configuration, the attitude (described later) of the autonomous moving body 100 is changed by causing a difference in the rotational speeds of the

main wheels

11a and 11b.
The

main wheels

11a and 11b are connected to output rotation shafts of the

motors

13a and 13b, respectively. Thereby, the main wheel 11a rotates according to the rotation of the motor 13a, and the main wheel 11b rotates according to the rotation of the motor 13b.

The

motors

13 a and 13 b are electrically connected to the movement control device 2. The

motors

13a and 13b can be independently controlled by

motor drivers

25a and 25b (FIG. 3) of the movement control device 2, respectively. Therefore, each of the

motors

13a and 13b can independently generate an arbitrary rotational speed and torque. As a result, the

main wheels

11a and 11b can independently control the rotation speed and torque.
As the

motors

13a and 13b, electric motors such as servo motors and brushless motors can be used.

(3) Configuration of Detection Unit Next, the configuration of the detection unit 3 will be described with reference to FIG. The detection unit 3 detects an obstacle S around the travel route (FIG. 11A) of the autonomous mobile body 100 and outputs position information of the obstacle S. Therefore, the detection unit 3 includes a front detector 31 and a rear detector 33. The front detector 31 detects the obstacle S in front of the autonomous mobile body 100. The rear detector 33 detects the obstacle S behind the autonomous mobile body 100. Further, the front detector 31 and the rear detector 33 output signals including information on the distance between the autonomous mobile body 100 and the obstacle S, information on the direction in which the obstacle S is seen from the autonomous mobile body 100, and the like. To do. Thereby, the detection unit 3 can output relative position information of the obstacle S viewed from the autonomous mobile body 100 to the movement control device 2.
As the front detector 31 and the rear detector 33 of the detection unit 3, for example, a laser range finder (LRF) or the like can be used.

(4) Configuration of Operation Unit Next, the configuration of the operation unit 5 will be described with reference to FIG. FIG. 2 is a diagram illustrating a configuration of the operation unit 5. The operation unit 5 includes operation handles 51 a and 51 b, a setting unit 53, a display unit 55, and an interface 57.
The operation handles 51a and 51b are respectively attached to the left and right of the housing 59 of the operation unit 5 so as to be rotatable. The operation handles 51 a and 51 b are connected to the interface 57. As a result, the rotation amounts (operation amounts) of the operation handles 51 a and 51 b are converted into electrical signals at the interface 57 and input to the movement control device 2.
For this reason, when the travel mode of the autonomous mobile body 100 is the teaching mode, the user can operate the autonomous mobile body 100 by appropriately adjusting the rotation amounts of the operation handles 51a and 51b.
The operation handles 51a and 51b in the present embodiment are throttle type operation handles, but are not limited thereto. Considering the application and operability of the autonomous mobile body 100, operation handles 51a and 51b other than the throttle type can be used.

The setting unit 53 is connected to the interface 57. The setting unit 53 inputs signals for performing various settings of the autonomous mobile body 100 to the movement control device 2 via the interface 57. The setting unit 53 can be configured by, for example, a switch or a keyboard for performing various settings of the autonomous mobile body 100. Alternatively, the setting unit 53 may be configured as a touch panel and formed integrally with the display unit 55.

The display unit 55 is connected to the interface 57. The display unit 55 reads and displays various settings and position information of the autonomous mobile body 100 from the movement control device 2 via the interface 57. A display such as a liquid crystal display can be used as the display unit 55. When the setting unit 53 and the display unit 55 are integrally formed as described above, a display with a touch panel function can be used as the display unit 55 (and the setting unit 53).

The interface 57 is connected to the movement control device 2. The interface 57 converts the operation amounts of the operation handles 51 a and 51 b, the switches and key inputs of the setting unit 53 into electrical signals, and outputs them to the movement control device 2. Further, the interface 57 reads information on the autonomous mobile body 100 from the movement control device 2 in accordance with a user's instruction and the like and displays the information on the display unit 55.
Accordingly, the interface 57 includes a signal converter that converts the amount of rotation of the operation handles 51a and 51b and the setting state in the setting unit 53 into an electric signal, a display unit driving circuit for displaying information on the display unit 55, and movement. A microcomputer board provided with a communication interface for transmitting and receiving signals to and from the control device 2 can be used.

(5) Configuration of movement control device Overall Configuration of Movement Control Device Next, the overall configuration of the movement control device 2 of the moving unit 1 will be described with reference to FIG. FIG. 3 is a diagram illustrating an overall configuration of the movement control device 2.
The movement control device 2 includes a CPU (Central Processing Unit), a hard disk device, a ROM (Read Only Memory), a RAM (Random Access Memory), a storage device such as a storage medium reading device, an interface for signal conversion, and the like. It can be realized by a microcomputer system. In addition, some or all of the functions of the respective units of the movement control device 2 described below may be realized as a program. Further, the program may be stored in a storage device of the microcomputer board. Alternatively, some or all of the functions of the respective units of the movement control device 2 may be realized by a custom IC or the like.
The movement control device 2 includes a teaching unit 21, a self-position estimation unit 22, a storage unit 23, a travel control unit 24, a motor drive unit 25, and an obstacle information acquisition unit 26.

The teaching unit 21 acquires a movement route when the user moves the autonomous mobile body 100 using the operation unit 5 at a predetermined time interval when the traveling mode is the teaching mode. Then, the teaching unit 21 converts the acquired movement route into a coordinate value on a coordinate system (hereinafter referred to as a movement coordinate) representing a movement plane on which the autonomous mobile body 100 moves, and the coordinate value and Associate the travel route with the acquired time. Furthermore, the teaching unit 21 stores the coordinate-converted movement route in the storage unit 23.

Here, a set of coordinate values of the movement route generated by the teaching unit 21 as described above will be referred to as a scheduled travel route. Then, the movement route that has undergone coordinate conversion is referred to as a travel target point. That is, the planned travel route is an aggregate including a plurality of travel target points. Each travel target point is associated with a time when the travel route is acquired. Therefore, the planned travel route is a collection of coordinate values including time information.

Further, the teaching unit 21 may acquire the posture of the autonomous mobile body 100 that is moving on the moving route when acquiring the moving route. Here, the attitude | position of the autonomous mobile body 100 means the direction where the front of the autonomous mobile body 100 faced. Thereby, the scheduled travel route can further include information (posture information) regarding the posture of the autonomous mobile body 100. Further, based on the posture information of the autonomous mobile body 100 included in the planned travel route, the travel control unit 24 may generate the predicted travel locus T (FIG. 11C).

The self-position estimating unit 22 estimates the position of the autonomous mobile body 100 on the moving plane. The self-position estimation unit 22 can estimate the position of the autonomous mobile body 100 on the movement plane using, for example, a SLAM (Simultaneous Localization And Mapping) method.
The self-position estimation unit 22 converts the relative position information of the obstacle S as viewed from the autonomous mobile body 100 acquired by the detection unit 3 into coordinate values on the movement coordinates. Then, based on the position information of the obstacle S detected by the front detector 31 and the rear detector 33 of the detection unit 3, map information (referred to as a local map) of the moving plane around the autonomous mobile body 100 is obtained. create. In addition, the self-position estimation unit 22 stores map information (referred to as an environment map) on the moving plane in the storage unit 23. Then, the self-position estimation unit 22 compares the environment map and the local map to estimate at which position on the moving plane the autonomous mobile body 100 exists.
Furthermore, the self-position estimation unit 22 may be configured to estimate the position of the autonomous mobile body 100 even based on the rotation speeds of the

motors

13a and 13b.

When the movement control device 2 is realized by a microcomputer system, the storage unit 23 corresponds to a storage device of the microcomputer system (or a part of a storage area of the storage device). Storage unit 23, various settings, planned travel route of the autonomous mobile unit 100, the position information of the obstacle S, the travel route information T _{n (FIG.} 11C), storage of information such as the autonomous moving body area A (Fig. 5). Further, when some or all of the functions of the respective units of the movement control device 2 are realized by software, the storage unit 23 may store the software.

The travel control unit 24 is connected to the motor drive unit 25. The traveling control unit 24 instructs the motor drive unit 25 to control the

motors

13 a and 13 b of the moving unit 1 based on the operation amount input from the operation unit 5 when the traveling mode is the teaching mode.
On the other hand, when the traveling mode is the autonomous traveling mode, the traveling control unit 24 creates a movement command for controlling the moving unit 1. Then, the travel control unit 24 controls the motor drive unit 25 based on the created movement command.
The detailed configuration and operation of the travel control unit 24 will be described later.

The motor drive unit 25 is connected to the travel control unit 24. Accordingly, the motor drive unit 25 can control the

motors

13a and 13b based on the movement command created by the travel control unit 24.
The motor drive unit 25 of the present embodiment includes two

motor drivers

25a and 25b. The

motor drivers

25a and 25b are connected to the

motors

13a and 13b, respectively. Thus, the

motor drivers

25a and 25b control the

motors

13a and 13b independently based on the movement command created by the travel control unit 24.
As the

motor drivers

25a and 25b, appropriate motor driving devices can be used according to the types of the

motors

13a and 13b.

The obstacle information acquisition unit 26 is connected to the front detector 31 and the rear detector 33 of the detection unit 3. The obstacle information acquisition unit 26 acquires position information of the obstacle S based on signals output from the front detector 31 and the rear detector 33. And the obstruction information acquisition part 26 memorize | stores the positional information on the obstruction S in the memory | storage part 23 as needed. At this time, the obstacle information acquisition unit 26 may output the position information of the obstacle S to the self-position estimation unit 22. Then, the self-position estimation unit 22 may convert the position information of the obstacle S into a coordinate value on the moving coordinates, and store the position information of the obstacle S in the storage unit 23.

II. Configuration of Travel Control Unit Next, the configuration of the travel control unit 24 will be described with reference to FIG. FIG. 4 is a diagram illustrating a configuration of the travel control unit 24. The travel control unit 24 includes a calculation unit 241, a determination unit 243, and a movement control unit 245.
The calculation unit 241 calculates the predicted travel locus T based on the current position of the autonomous mobile body 100, the travel route information _Tn, and the autonomous mobile body area A. Here, the predicted travel trajectory T refers to a trajectory that is expected to be drawn by the autonomous mobile body region A when the autonomous mobile body 100 travels in the autonomous travel mode.

Further, the travel route information T _n, the autonomous moving body 100 is information indicating a travel route from the current position to a future position is a position where the traveling a predetermined distance. In the present embodiment, the travel route information T _n includes a travel route that is generated based on the planned travel route taught to the autonomous mobile body 100. Accordingly, the calculation unit 241 generates a travel route from the planned travel route.

Furthermore, the autonomous mobile body area A is a planar area defined in the movement plane. Further, the autonomous mobile body region A has a predetermined shape including the autonomous mobile body 100. Therefore, the autonomous mobile body region A is defined so as to include the maximum planar cross section of the autonomous mobile body 100. In this embodiment, as shown in FIG. 5, the autonomous mobile body region A is an ellipse that includes the maximum planar cross section of the autonomous mobile body 100 and has a minor axis length of W and a major axis length of L. is there. In the elliptical autonomous mobile body region A shown in FIG. 5, the major axis of the autonomous mobile body region A is parallel to the front-rear direction of the autonomous mobile body 100. As described above, the axis of the autonomous mobile body region A that is parallel to the front-rear direction of the autonomous mobile body 100 is referred to as a reference axis of the autonomous mobile body 100.
By defining the autonomous mobile body region A by an ellipse, it can be determined whether or not the obstacle S and the autonomous mobile body 100 interfere with each other with fewer operations.
Note that, as described above, the autonomous mobile body region A is defined based on the shape of the autonomous mobile body 100. Therefore, in this embodiment, the autonomous mobile body area A is defined in advance and stored in the storage unit 23 of the movement control device 2.

The autonomous mobile body area A in the present embodiment is anisotropic like an ellipse as shown in FIG. In this case, the travel route information T _n are further includes a posture information of the autonomous moving body 100 on the travel route. Here, the posture information of the autonomous mobile body 100 refers to information corresponding to the direction in which the front of the autonomous mobile body 100 is facing on the moving plane. In the present embodiment, the attitude information of the autonomous mobile body 100 is obtained by rotating the autonomous mobile body area A around the normal axis of the movement coordinate plane passing through the center V of the autonomous mobile body area as shown in FIG. It is defined by an angle θ formed by the horizontal axis (x axis) of the moving coordinates and the reference axis (in the case of this embodiment, the long axis of the ellipse) of the autonomous mobile body region. In addition, the autonomous mobile body area A rotated around the normal axis of the movement coordinate plane passing through the center V of the autonomous mobile body area A will be referred to as a rotational autonomous mobile body area.
As described above, by giving anisotropy to the autonomous mobile body region A and including the posture information of the autonomous mobile body 100 in the travel route information T _n , the calculation unit 241 considers the shape and posture of the autonomous mobile body 100. Thus, it is possible to create a more accurate predicted traveling locus.

Note that details of the configuration of the calculation unit 241 and specific operations performed in the calculation unit 241 will be described later.

The determination unit 243 determines whether the obstacle S detected by the detection unit 3 and the expected traveling locus T interfere with each other. In the determination unit 243, by determining whether or not the obstacle S is included in the region of the predicted traveling locus T, or whether there is a portion where the region of the predicted traveling locus T and the obstacle S overlap, It is determined whether the obstacle S and the predicted traveling trajectory T interfere with each other. A specific determination method for determining whether or not the obstacle S and the predicted traveling locus T interfere with each other will be described later.

The movement control unit 245 creates a movement command for controlling the moving unit 1. The movement command is a command including a control command for the

motor drivers

25a and 25b of the motor drive unit 25. Accordingly, the movement command includes, for example, a command for instructing the movement start of the autonomous mobile body 100, a time after the autonomous mobile body 100 starts moving, a direction (movement direction) of the autonomous mobile body 100 at the time, and the time It includes information such as the distance traveled. Further, the movement command may include control information on the rotational speeds of the

motors

13a and 13b.

In the movement control unit 245, when the determination unit 243 determines that the obstacle S and the predicted traveling locus T do not interfere with each other, the movement control unit 245 creates a movement command that reproduces the predicted traveling locus T generated by the calculation unit 241. . Thereby, the autonomous mobile body 100 can travel faithfully on the travel route without performing a useless operation for avoiding the obstacle S.
On the other hand, when the determination unit 243 determines that the obstacle S and the predicted travel path interfere, the movement control unit 245 performs an obstacle collision avoidance operation for avoiding a collision between the obstacle S and the autonomous mobile body 100. Create a movement command.

As a movement command for performing the obstacle collision avoidance operation, for example, if the position where the obstacle S and the predicted traveling locus T interfere is at a distance close to the current position of the autonomous moving body 100, the autonomous moving body 100 is stopped. If there is a distance far from the current position of the autonomous mobile body 100, there is a movement command for decelerating the autonomous mobile body 100.
By such a movement command, the autonomous mobile body 100 can travel on the travel route as much as possible within a range in which the obstacle S and the autonomous mobile body 100 do not collide. Thereby, the autonomous mobile body 100 can travel the travel route more faithfully without colliding with the obstacle S.

Alternatively, the movement command for performing the obstacle collision avoidance operation may be a movement command for stopping the autonomous mobile body 100. By using such a movement command, the autonomous mobile body 100 does not collide with an obstacle.

In addition, the movement control unit 245 can create an arbitrary movement command according to the use of the autonomous mobile body 100 and the like.

III. Configuration of Calculation Unit Next, details of the configuration of the calculation unit 241 will be described with reference to FIG. FIG. 7 is a diagram illustrating a configuration of the calculation unit 241. The calculation unit 241 includes a base point generation unit 2411, a rotating autonomous mobile body region generation unit 2413, and an expected travel locus generation unit 2415.
The base point generation unit 2411 generates a plurality of base points B on the travel route as position information of the travel route information. Since a plurality of base points B are arranged on the travel route, it can be said that the base points are passing target points when the autonomous mobile body 100 moves from the current position to the future position.

The base point B may be arranged so as to divide the travel route at the same predetermined interval. Alternatively, as a result of arranging the base points, the interval between the two base points may be different. How to arrange the base points can be arbitrarily determined according to the use of the autonomous mobile body 100 or the like.

In addition, time information is associated with the arranged base point B. In the present embodiment, information on the elapsed time since the autonomous mobile body 100 started moving from the current position is associated with the arranged base point B. As the elapsed time, a multiple of a control cycle in which the movement control device 2 controls the autonomous mobile body 100 is used. Specifically, if the control period was _{T c,} 0 the time of the current position of the autonomous moving body 100, in order from the base point B closer to the current _{_{_{position, T c, 2T c, 3T}}} c ··· nT c Associate time information with base point B (n: integer).
By associating time-related information with the arranged base point B, the movement control unit 245 of the travel control unit 24 can create a movement command by a simpler calculation. In addition, since the travel route information can be expressed as discrete information (array), the structure of the travel route information can be simplified.

Note that the configuration of the base point generation unit 2411 and a specific method for arranging the base point B on the travel route will be described later.

Rotating the autonomous moving body area generation unit 2413, as the posture information of the travel route information T _n, the autonomous moving body region, generates a rotating autonomous moving body region by rotation about a normal axis of the moving plane (moving coordinate plane). Specifically, the rotational autonomous mobile body region generation unit 2413 generates the posture information θ of the autonomous mobile body 100 at each base point B generated by the base point generation unit 2411.
In the present embodiment, the posture information θ of the autonomous mobile body 100 at the base point B is obtained by matching the environment map stored in the self-position estimation unit 22 with the local map. That is, in order to match (match) the environmental map and the local map, the posture information θ is obtained from the rotation angle obtained by rotating the local map or the environmental map. However, the present invention is not limited to this, and a line connecting two adjacent first base points and a second base point (the autonomous mobile body 100 moves from the first base point to the second base point) and a movement An angle formed by the coordinate x-axis (horizontal axis) may be used as posture information of the autonomous mobile body 100 at the first base point. Thereby, a rotation autonomous mobile body area | region can be produced | generated by simpler calculation.

The predicted travel locus generation unit 2415 arranges the rotation autonomous mobile body region generated by the rotation autonomous mobile body region generation unit 2413 at each of the base points B generated by the base point generation unit 2411 to predict the predicted travel A trajectory T is generated. Specifically, the predicted travel locus generation unit 2415 associates the posture information θ of the autonomous mobile body 100 generated by the rotating autonomous mobile body region generation unit 2413 with the base point B generated by the base point generation unit 2411. Thereby, the calculating part 241 can create the predicted traveling locus T by a simpler calculation.

IV. Configuration of Base Point Generation Unit Next, the configuration of the base point generation unit 2411 will be described with reference to FIG. FIG. 8 is a diagram illustrating a configuration of the base point generation unit 2411. The base point generation unit 2411 includes a target point extraction unit 2411-1, a target point selection unit 2411-3, a calculation unit 2411-5, and a base point arrangement unit 2411-7.
The target point extraction unit 2411-1 extracts a predetermined number of travel target points (referred to as front travel target points) existing ahead of the current travel position in the planned travel route from the travel target points. The target point selection unit 2411-3 is at the shortest position from the current position among the forward travel target points included in the circle C1 (FIG. 13B) having a predetermined radius centered on the current position of the autonomous mobile body 100. Of the travel target point (referred to as the first travel target point P1 (FIG. 13B)) and the forward travel target point existing outside the circle C1, the travel target point (second travel target point P2) that is the shortest distance from the current position. (Referred to as FIG. 13B).

The calculator 2411-5 calculates a virtual travel target point VP (FIG. 13C) that is an intersection of the line segment P1P2 (FIG. 13C) connecting the first travel target point P1 and the second travel target point P2 and the circumference of the circle C1. ) Is calculated. The base point arrangement unit 2411-7 connects the current position, the virtual travel target point VP, the second travel target point P2, and the other forward travel target points existing outside the circle in the order from the current position. Generate a travel route. Then, base points B are arranged at predetermined intervals on the generated travel route.
Even if the autonomous mobile body 100 is at a position slightly deviated from the planned travel path by the base point generation unit 2411 having such a configuration, the autonomous mobile body 100 corrects this positional shift, and the planned travel path Can travel more faithfully.
A specific method for generating the base point B in the base point generating unit 2411 having such a configuration will be described later.

(6) Operation of autonomous mobile body Autonomous Traveling Operation Next, the autonomous traveling operation of the autonomous mobile body 100 will be described with reference to FIG. FIG. 9 is a flowchart showing the autonomous traveling operation of the autonomous mobile body 100.
When the autonomous mobile body 100 starts autonomous traveling in the autonomous traveling mode, first, the detection unit 3 detects the obstacle S (step S1). Specifically, the obstacle information acquisition unit 26 acquires the position information of the obstacle S from the signals output from the front detector 31 and the rear detector 33 of the detection unit 3. Then, the acquired position information of the obstacle S is stored in the storage unit 23.
At this time, simultaneously with the detection of the obstacle S, based on the position information of the obstacle S, the self-position estimation unit 22 determines the current position of the autonomous mobile body 100 on the movement coordinates (the autonomous mobile body 100 starts autonomous traveling). Corresponding to position information). Then, the current position of the autonomous mobile body 100 is stored in the storage unit 23.

Next, the calculation unit 241 calculates the predicted travel locus T based on the current position of the autonomous mobile body 100, the travel route information _Tn, and the autonomous mobile body area A (step S2). A specific method for calculating the predicted travel trajectory T in step S2 will be described later.

After generating (calculating) the predicted traveling locus T, the determination unit 243 determines whether or not the generated predicted traveling locus T and the obstacle S interfere with each other (step S3). A specific method for determining whether or not the predicted traveling locus T and the obstacle S interfere with each other will be described later.
When it is determined that the obstacle S and the predicted travel locus T do not interfere with each other (“No” in step S3), the movement control device 2 causes the moving unit 1 to reproduce the predicted travel locus T. Is controlled (step S4). Specifically, the movement control unit 245 creates a movement command that reproduces the predicted traveling locus T. Then, the motor drive unit 25 controls the

motors

13a and 13b based on the movement command generated in the movement control unit 245.
Thereby, the autonomous mobile body 100 can travel faithfully on the predicted travel locus T (travel route) without performing a useless operation for avoiding the obstacle S.

On the other hand, when the determination unit 243 determines that the obstacle S and the predicted traveling locus T interfere with each other (in the case of “Yes” in step S3), the movement control device 2 An instruction is given to execute an operation that avoids a collision with the obstacle S (obstacle collision avoidance operation) (step S5).

In this case, the movement control device 2 according to the present embodiment stops the movement if the position where the obstacle S and the predicted travel trajectory T interfere with each other is close to the current position of the autonomous mobile body 100, and If the vehicle is far from the current position, the vehicle is instructed to decelerate. Specifically, the movement control unit 245 creates a movement command for causing the autonomous mobile body 100 to travel at a lower speed than usual until it does not collide with the obstacle S.
By such a movement command, the autonomous mobile body 100 can travel on the travel route as much as possible within a range in which the obstacle S and the autonomous mobile body 100 do not collide. Thereby, the autonomous mobile body 100 can travel the travel route more faithfully without colliding with the obstacle S.
In this case, in step S5 or step S3, the determination unit 243 acquires information on which position of the predicted traveling locus T the autonomous mobile body region A interferes with the obstacle S. Thereby, the traveling control part 24 can grasp | ascertain to which position the autonomous mobile body 100 can move, without colliding with the obstruction S. FIG.

Alternatively, when it is determined that the obstacle S and the predicted travel trajectory T interfere with each other, the movement control unit 245 may create a movement command that instructs the autonomous mobile body 100 to stop moving. By using such a movement command, the autonomous mobile body 100 does not collide with the obstacle S.
As described above, the movement control device 2 of the autonomous mobile body 100 determines whether or not the predicted traveling locus and the obstacle interfere with each other in step S3 in FIG. By judging whether or not to perform the collision avoidance action on the obstacle, it is judged. Thereby, it can be judged with higher accuracy whether the autonomous mobile body 100 takes an avoidance action against an obstacle. As a result, the autonomous mobile body 100 can travel faithfully on the planned travel route taught by the user without performing useless obstacle avoidance behavior.

II. Predictive travel locus generation method II-1. Next, a method for generating the predicted travel locus T in step S2 of the flowchart (FIG. 9) showing the autonomous travel operation will be described with reference to FIGS. 10 to 11C. FIG. 10 is a flowchart showing a method for generating the predicted traveling locus T.
When the generation of the predicted travel locus T is started, the calculation unit 241 first reads the current position of the autonomous mobile body 100, the planned travel route, and the autonomous mobile body area A from the storage unit 23 (steps S21 to S23).

Next, the base point generation unit 2411 of the calculation unit 241 generates a plurality of base points B on the travel route (step S24). A specific travel route creation method and base point B generation method in the base point generation unit 2411 will be described later.
FIG. 11A schematically shows the travel route and base points generated in step S24. In FIG. 11A, the travel route is indicated by a thick solid line. Eight circle points arranged on the travel route indicated by the thick solid line are base points B _1, B ₂ ,... B ₈ . In the present embodiment, a general base point B _n is expressed as coordinate values (x _n , y _n ) (n: integer) on moving coordinates.
Here, t _n is associated with the base point B _n as the elapsed time after the autonomous mobile body 100 starts moving. The base point B _n associated with the elapsed time t _n is set as travel route information T _n (n = 1 to 8). Therefore, the travel route information T _n can be expressed as a three-dimensional value (x _n , y _n , t _n ) including time information at this time point.

After the generation of the base point B, the rotation autonomous mobile body region generation unit 2413 rotates the autonomous mobile body region A around the normal axis of the movement plane to generate a rotation autonomous mobile body region (step S25). Specifically, the rotational autonomous mobile body region generation unit 2413 generates the posture information θ of the autonomous mobile body 100 at the base point B generated by the base point generation unit 2411.
FIG. 11B schematically shows generation of the rotating autonomous mobile body region in step S25. As shown in FIG. 11B, at each base point _Bn , the reference axis of the autonomous mobile body region A (dotted arrow in the autonomous mobile body region A) is tilted with respect to the horizontal axis (x axis) of the movement coordinates. The angle θ _n is generated as posture information at the base point B _n .

After generating the rotational autonomous mobile region, the predicted traveling locus generation unit 2415 generates the rotational autonomous mobile region generated by the rotational autonomous mobile region generation unit 2413 at the base point B generated by the base point generation unit 2411. Are arranged to generate the predicted travel trajectory T (FIG. 11C) (step S26).
FIG. 11C schematically shows generation of the predicted traveling locus T in step S26. As shown in FIG. 11C, an expected traveling locus T is generated by arranging a corresponding rotating autonomous moving body region at each of the base points _Bn . As shown in FIG. 11C, the predicted traveling locus T has a planar shape on the movement coordinates. This is because the autonomous mobile body region A is planar on the movement coordinates. In addition, if the planar predicted traveling locus T as shown in FIG. 11C is expressed as a function of x and y of the moving coordinates, a very complicated expression is obtained. In addition, when the predicted traveling locus T is expressed by the coordinate values of the movement coordinates, a very large number of coordinate values (data amount) are required.

On the other hand, in this embodiment, the generated posture information θ _n of the autonomous mobile body 100 is associated with the corresponding travel route information T _n to generate a four-dimensional travel route information T _n aggregate. Then, each of the travel route information T _n, are generated predicted travel locus T associates predefined autonomous moving body region A. In such a case, the predicted travel trajectory T can be expressed as an aggregate of values (x _n , y _n , t _n , θ _n ) of the same dimension (four dimensions) as the travel route information T _n . In this way, by expressing the predicted traveling locus T as a set of low-dimensional values of about four dimensions, the predicted traveling locus T can be expressed without requiring a complicated formula or a large amount of data. Further, as will be described later, by expressing the predicted traveling trajectory T as a low-dimensional assembly of about four dimensions, the interference between the autonomous mobile body region A and the obstacle S can be determined by a relatively simple calculation formula. .

II-2. Base Point Generation Method Next, a base point B generation method in generating the predicted traveling locus T will be described with reference to FIGS. 12 to 13E. FIG. 12 is a flowchart showing the base point generation method in the base point generation step (step S24) in the present embodiment.
Here, as shown in FIG. 13A, a case where the current position of the center V of the autonomous mobile body region A of the autonomous mobile body 100 is deviated from the planned travel route will be described.
When the base point generation unit 2411 starts generating the base point B, first, the target point extraction unit 2411-1 extracts a predetermined number of forward traveling target points (step S241). Here, the forward travel target point is a travel target point that exists ahead of the current position of the autonomous mobile body 100 in the traveling direction. In FIG. 13A, travel target points other than the travel target point P0 indicated by the dotted line are extracted.

Next, the target point selection unit 2411-3 selects a circle C1 (FIG. 13B) having a predetermined radius r centered on the current position of the autonomous mobile body 100 (the center V of the autonomous mobile body area in FIG. 13A). Define (step S242). Here, the predetermined radius r is a value sufficiently smaller than the distance from the center V of the autonomous mobile body region A to the boundary defining the autonomous mobile body region A on the movement coordinates.
In the case of the elliptical autonomous mobile body region A in the present embodiment, the predetermined radius r is a value smaller than the elliptical minor axis W. By setting the predetermined radius r to a value smaller than the distance from the center V of the autonomous mobile body region A to the boundary, it can be considered that the autonomous mobile body 100 has passed the travel target point in the circle C1 having the predetermined radius r. . Moreover, the autonomous mobile body 100 can return to a travel target point earlier from the position shifted | deviated from the travel target point. Thereby, the autonomous mobile body 100 can travel faithfully on a travel route that faithfully reproduces the travel target point.

Then, the target point selection unit 2411-3 selects a travel target point (first travel target point) that is the shortest position from the current position of the autonomous mobile body 100 from among the forward travel target points included in the circle C1. (Step S243). In FIG. 13B, the travel target point P1 is the first travel target point.

Further, the target point selection unit 2411-3 selects a travel target point (second travel target point) that is the shortest distance from the current position of the autonomous mobile body 100 from among the forward travel target points outside the circle C1. (Step S244). In FIG. 13B, the travel target point P2 is the second travel target point.

After selecting the first travel target point P1 and the second travel target point P2, the calculation unit 2411-5, the line segment P1P2 connecting the first travel target point P1 and the second travel target point P2, and the circle of the circle C1 An intersection with the circumference is calculated (step S245). Then, the intersection calculated by the calculation unit 2411-5 is determined as a virtual travel target point VP (FIG. 13C).

Next, as shown in FIG. 13D, the base point arrangement unit 2411-7 sets a line segment R1 connecting the current position and the virtual travel target point VP, the virtual travel target point VP, and the second travel target point P2. The connected line segment R2 is connected to the second travel target point P2 and the line R3 formed by connecting all the forward travel target points that are ahead of the second travel target point P2 in the traveling direction in the order closer to the current position. To the travel route (step S246).

Then, the base point placement unit 2411-7 places base points B at predetermined intervals on the travel route generated in step S246 (step S247). In the present embodiment, as shown in FIG. 13E, eight base points B ₁ to B ₈ including the current position of the autonomous mobile body 100 (center V of the autonomous mobile body area A) are on the travel route. Is arranged.

By positioning the base point B on the travel route after the travel route is determined by the above method, the autonomous mobile body 100 is positioned at this position even if the autonomous mobile body 100 is slightly deviated from the planned travel route. It is possible to travel more faithfully on the travel route by correcting the deviation.

III. Method for Determining Interference Between Obstacle and Expected Travel Trajectory Next, a method for determining interference between the obstacle S and the expected travel trajectory T in the above-described autonomous traveling operation will be described with reference to FIGS. 14 to 15E. FIG. 14 is a flowchart illustrating a method for determining interference between the obstacle S and the predicted travel trajectory T. 14, the determination whether or not the predicted travel locus T obstacle S to interference in the running route information position information expressed in T _n (corresponding to the coordinates of the base point B), the obstacle S autonomic This is done by determining whether or not it overlaps the moving object area A. If the obstacle S overlaps the autonomous mobile body area A, the determination unit 243 determines that the obstacle S and the autonomous mobile body area A interfere with each other. That is, in this case, the determination unit 243 determines that the obstacle S and the predicted traveling locus T interfere with each other.
On the other hand, the determination unit 243 determines that the obstacle S and the autonomous mobile body area A do not interfere with each other unless the obstacle S overlaps the autonomous mobile body area A at all base points B. That is, in this case, the determination unit 243 determines that the obstacle S and the predicted traveling locus T do not interfere with each other.

Specifically, as described below, the determination unit 243 determines whether the obstacle S and the predicted traveling locus T interfere with each other.
First, the determination unit 243 converts the moving coordinates into a coordinate system in which the center V of the autonomous moving body region A arranged at the base point B is the origin (step S31). The coordinate system after conversion will be referred to as second movement coordinates.

Next, the determination unit 243 rotates the second movement coordinates so that the reference axis of the autonomous mobile body region A overlaps the horizontal axis (step S32). The rotated second movement coordinates will be referred to as third movement coordinates.

Further, the determination unit 243 expands or compresses the third movement coordinate in the y-axis direction or the x-axis direction so that the shape of the autonomous mobile body region A is circular (step S33). The third movement coordinate expanded or compressed in the axial direction will be referred to as the fourth movement coordinate.

Next, the determination unit 243 calculates a distance d between the center V of the autonomous mobile body region A (the origin of the fourth movement coordinates) and the obstacle S on the fourth movement coordinates. Then, the determination unit 243 determines whether or not the distance d is larger than the radius of a circle that defines the autonomous mobile body area A on the fourth movement coordinate (step S34).
When the distance d is larger than the radius of the circle of the autonomous mobile body area A, that is, when the autonomous mobile body area A and the obstacle S do not overlap (in the case of “Yes” in step S34), the autonomous mobile body It is determined that the area A does not interfere with the obstacle S. Then, the process proceeds to step S35.
On the other hand, when the distance d is smaller than the radius of the circle of the autonomous mobile body area A, that is, when the autonomous mobile body area A and the obstacle S overlap (in the case of “No” in step S34), the autonomous movement It is determined that the body region A interferes with the obstacle S. If it is determined that the autonomous mobile body region A interferes with the obstacle S at a certain base point B, at that time, without making a determination at another base point. It is determined that the predicted travel locus T interferes with the obstacle S (step S36). Then, the determination unit 243 ends the determination of the interference between the predicted traveling locus T and the obstacle S.

In step S35, the determination unit 243 confirms whether or not the interference between the autonomous mobile body region A and the obstacle S is determined at all the base points B. This is a case where interference between the autonomous mobile body region A and the obstacle S is determined at all base points B (in the case of “Yes” in step S35), and at all base points B, the autonomous mobile body region A and When it is determined that the obstacle S does not interfere (in the case of “Yes” in step S34), it is determined that the predicted traveling locus T does not interfere with the obstacle S (step S37). Then, the determination unit 243 ends the determination of the predicted traveling locus T and the obstacle S.

At this time, the determination unit 243 may store in the storage unit 23 or the like at which base point B it is determined that the autonomous mobile body region A and the obstacle S interfere. In this case, the determination unit 243 stores the subscript number n of the base point B _n determined that the autonomous mobile body region A and the obstacle S interfere with each other in the storage unit 23 or the like. When the base point B _n (travel route information T _n ) is expressed by an array (for example, expressed as B [n]), the determination unit 243 stores the number of the element n in the storage unit 23 or the like To remember.
In this case, for example, the base point B _m where the autonomous mobile body region A and the obstacle S interfere with each other is decelerated and moved to the base point B _m−1 behind the autonomous mobile body 100 in the traveling direction. Obstacle collision avoidance action can be executed. As a result, the autonomous mobile body 100 can travel on the travel route more faithfully without colliding with the obstacle S.

FIG. 15A to FIG. 15A schematically show the autonomous moving body region A and the obstacle S on the movement coordinates with respect to the method for determining the interference between the predicted traveling locus T and the obstacle S described above with reference to FIG. This will be described in detail using 15E.
Here, as an example, the autonomous mobile region A in the coordinates (also referred to as the base point B ₆ ) expressed by the position information of the travel route information T ₆ (x ₆ , y ₆ , t ₆ , θ ₆ ) A method for determining interference with the obstacles S ₁ to S ₆ will be described. Here, it is assumed that six obstacles S ₁ to S ₆ are detected at the positions shown in FIG. 15A in the obstacle detection step (step S1 in FIG. 9) of the autonomous traveling operation.
Note that the coordinates represented by the position information of the other travel route information T _n, so can be explained like the following will be omitted.

FIG. 15B shows a diagram when the autonomous mobile body region A at the base point B ₆ and the obstacles S ₁ to S ₆ are arranged on the movement coordinates. First, in step S31 in FIG. 14, the center V of the autonomous moving body region A disposed on the base point B ₆ is moved coordinates are converted such that the origin of the coordinate. In this case, the movement coordinate is translated by −x _{6 in} the horizontal axis (x-axis) direction and by −y _{6 in} the vertical axis (y-axis) direction.
When the movement coordinates are translated as described above, the obstacles S ₁ to S ₆ are also parallel from the coordinates on the movement coordinates by −x _{6 in the} x-axis direction and −y _{6 in} the vertical axis (y-axis) direction. It is moved and arranged on the second movement coordinate. The arrangement of the autonomous mobile body region A and the obstacles S ₁ to S ₆ on the second movement coordinates is shown in FIG. 15C.

Next, in step S32 in FIG. 14, the second movement coordinate is rotated so that the reference axis of the autonomous moving body region A on the second movement coordinate overlaps the horizontal axis (x axis) of the movement coordinate. In this case, the second movement coordinates are rotated in a direction (clockwise in FIG. 15C) opposite to the direction in which the posture information θ of the autonomous mobile body 100 is defined (the direction in which θ is a positive value). Specifically, in FIG. 15C, the second movement coordinate is rotated clockwise by an angle θ ₆ . Here, the rotated second movement coordinates are referred to as third movement coordinates.
As described above, when the second movement coordinate is rotated by θ ₆ clockwise, the obstacles S ₁ to S ₆ are also rotated by θ ₆ clockwise around the normal axis passing through the center of the origin of the second movement coordinate. It is rotated and placed on the third movement coordinate. FIG. 15D shows the arrangement of the autonomous moving body region A and the obstacles S ₁ to S ₆ on the third movement coordinates.

Next, in step S33 of FIG. 14, the third movement coordinate is L / W times (L) in the y-axis direction so that the autonomous mobile body region A becomes a circle having a radius L (the major axis of the autonomous mobile body region A). / W is called the expansion rate). The third movement coordinate in which the y-axis direction is extended will be referred to as a fourth movement coordinate.
In this case, the y-coordinate value of the coordinate on the third movement coordinate is multiplied by L / W (L / W is referred to as the expansion rate) and arranged on the fourth movement coordinate. Thus, the obstacles S ₁ to S ₆ on the third movement coordinate are arranged on the fourth movement coordinate with the coordinate value multiplied by L / W. FIG. 15E shows the arrangement of the autonomous mobile body region A and the obstacles S ₁ to S ₆ on the fourth movement coordinate. In FIG. 15E, the shapes of the obstacles S ₁ to S ₆ are deformed vertically long (in FIG. 15D, from a circle to a vertically long ellipse), but the center V of the autonomous mobile body region A and the obstacle S the positional relationship between the ₁ ~ _{S 6} does not change.

Next, in step S34 of FIG. 14, it is determined whether or not the autonomous mobile body region A and the obstacles S ₁ to S ₆ interfere on the fourth movement coordinate. At this time, as shown in FIG. 15E, in the fourth movement coordinates, the distances d ₁ to d ₆ from the center V of the autonomous moving body region (the origin of the fourth movement coordinates) and the obstacles S ₁ to S ₆ are as follows. Calculated. By calculating the distances d ₁ to d _{6 as the} distances from the origin of the fourth movement coordinates to the obstacles S ₁ to S ₆ , the calculation of the distances d ₁ to d ₆ can be simplified.
On the fourth movement coordinate, the interference between the autonomous mobile body region A and the obstacles S ₁ to S ₆ is only whether the distances d ₁ to d ₆ are larger than the major axis L of the autonomous mobile body region A. Can be judged. This is because the autonomous mobile body region A is expressed as a circle with a radius L having no anisotropy on the fourth movement coordinates. Thereby, interference with the autonomous mobile body area | region A and the obstruction S can be judged more easily. As a result, it is possible to shorten the time for determining the interference between the predicted traveling locus T and the obstacle S.

Note that the coordinate conversion as described above can be calculated relatively easily using a determinant. In this case, by using a determinant, a calculation formula for calculating the distance d from the autonomous mobile body region A to the obstacle S is calculated in advance, and the calculation formula is stored in the storage unit 23 or the like. Also good. Then, an appropriate value may be substituted into this calculation formula to calculate the distance d from the autonomous mobile body region A to the obstacle S represented by specific numerical values.
Alternatively, determinants that perform coordinate translation, rotation, and expansion / compression may be stored in the storage unit 23 or the like. In this case, an appropriate value is substituted into the stored determinant to calculate a determinant expressed by a specific numerical value. And after performing coordinate conversion of a movement coordinate using the determinant expressed with the specific numerical value, the distance d from the autonomous mobile body area | region A to the obstruction S is calculated.

(7) Effects of this embodiment The effects of this embodiment will be described below.
The movement control device 2 of the autonomous mobile body 100 (an example of a movement control device of an autonomous mobile body) includes a movement unit 1 (an example of a movement unit) and a detection unit 3 (detection) that detects an obstacle S (an example of an obstacle). An autonomous mobile body 100 (an example of an autonomous mobile body) that moves so as to reproduce a planned travel route (an example of a planned travel route) created in advance.
The movement control device 2 of the autonomous mobile body 100 includes a calculation unit 241 (an example of a calculation unit), a determination unit 243 (an example of a calculation unit), and a movement control unit 245 (an example of a movement control unit). The calculation unit 241 includes the current position of the autonomous mobile body 100, travel route information T _n (an example of travel route information) representing a travel route to a future position that is a position traveled a predetermined distance from the current position, and autonomous movement. Based on the autonomous mobile body region A (an example of an autonomous mobile body region) having a predetermined shape including the body 100, an expected travel locus T (an example of an expected travel locus from the current position to the future position) is calculated. . The determination unit 243 determines whether or not the obstacle S detected by the detection unit 3 and the predicted traveling locus T interfere with each other. The movement control unit 245 controls the moving unit 1 so as to reproduce the predicted traveling locus T calculated by the calculating unit 241 when the determining unit 243 determines that the obstacle S and the predicted traveling locus T do not interfere with each other. Create a movement command.

In this movement control device 2, first, the calculation unit 241 creates the predicted traveling locus T based on the traveling route information _Tn and the autonomous mobile body area A. Next, the determination unit 243 determines whether or not the obstacle S detected by the detection unit 3 of the autonomous mobile body 100 and the predicted travel locus T interfere with each other. If the movement control unit 245 determines that the obstacle S and the predicted travel locus T do not interfere with each other in the determination unit 243, the movement unit 1 of the autonomous mobile body 100 is moved so as to reproduce the predicted travel locus T. Create a movement command to control.

In this movement control device 2, the determination as to whether or not the autonomous mobile body 100 and the obstacle S collide is based on the determination as to whether or not the predicted traveling locus T and the obstacle S interfere with each other. Thereby, it can be judged with higher accuracy whether the autonomous mobile body 100 takes the avoidance action with respect to the obstacle S. As a result, the autonomous mobile body 100 can travel more faithfully on the planned travel route taught by the user without performing useless avoidance action on the obstacle S.

In the present embodiment, the shape of the autonomous moving body region A in the moving plane of the autonomous moving body 100 has anisotropy. In addition, the travel route information T _n is the position information of the autonomous mobile body 100 on the travel route, and the coordinates of the base point B (an example of position information) and the posture information θ (posture information of the posture information) of the autonomous mobile body 100 on the travel route. Example).
Thereby, the calculating part 241 can create a more accurate predicted traveling locus in consideration of the shape and posture of the autonomous mobile body 100. As a result, the determination unit 243 can more reliably determine whether the obstacle S and the autonomous mobile body 100 interfere with each other.

In the present embodiment, the shape of the autonomous moving body region A on the moving plane is an ellipse. Thereby, the determination part 243 can determine whether the obstruction S and the autonomous mobile body 100 interfere with each other by fewer calculations.

In the present embodiment, the travel route information T _n further includes time information t _n (an example of time information) on the travel route of the autonomous mobile body 100. Thereby, the movement control part 245 can create a movement command by a simpler calculation. Since it represented a travel route information T _n as discrete information (sequence) can be simplified the structure of the travel route information T _n.

In the present embodiment, the calculation unit 241 includes a base point generation unit 2411 (an example of a base point generation unit), a rotation autonomous mobile body region generation unit 2413 (an example of a rotation autonomous mobile body region generation unit), and an expected travel locus generation. Unit 2415 (an example of an expected travel locus generation unit). Base point generation unit 2411, as the position information of the traveling route information T _n, to generate a plurality of base points B (an example of a base point) on the travel path. Rotating the autonomous moving body area generation unit 2413, based on the attitude information of the traveling route information T _n theta, the autonomous moving body region A, to generate a rotating autonomous moving body region by rotation about a normal axis of the moving plane. The predicted travel locus generation unit 2415 arranges the rotation autonomous mobile body region generated by the rotation autonomous mobile body region generation unit 2413 at each of the base points B generated by the base point generation unit 2411 to predict the predicted travel A trajectory T is generated. Thereby, the calculating part 241 can create the predicted traveling locus T by a simpler calculation.

In the present embodiment, the movement control unit 245 determines that the autonomous mobile body 100 is detected if the interference unit is located at a distance close to the current position when the determination unit 243 determines that the obstacle S and the predicted travel locus T interfere with each other. Stop. Moreover, if it exists in the distance far from the present position, the moving part 1 will be controlled so that the autonomous mobile body 100 may be decelerated. Thereby, the autonomous mobile body 100 can travel the travel route more faithfully without colliding with the obstacle S.

2. Second Embodiment Next, an autonomous mobile body 200 according to a second embodiment will be described. In addition, description about the same thing as the autonomous mobile body 100 which concerns on 1st Embodiment among the structures of the autonomous mobile body 200 which concerns on 2nd Embodiment is abbreviate | omitted here.
In the second embodiment, the base point generation method in the base point generation unit 2412 is different from the generation method in the base point generation unit 2411 of the autonomous mobile body 100 according to the first embodiment. Therefore, the configuration of the base point generation unit 2412 of the autonomous mobile body 200 according to the second embodiment and the base point generation method in the base point generation unit 2412 will be described below.
First, the configuration of the base point generation unit 2412 according to the second embodiment will be described with reference to FIG. FIG. 16 is a diagram illustrating a configuration of the base point generation unit 2412 according to the second embodiment. As shown in FIG. 16, the base point generation unit 2412 includes a target point extraction unit 2412-1, a target point selection unit 2412-3, a calculation unit 2412-5, and a base point arrangement unit 2412-7. .

The target point extraction unit 2412-1 extracts a forward travel target point. In the target point extraction unit 2412-1 according to the second embodiment, the forward travel target point has a first radius r ₁ (FIG. 18A) centered on the current position from the current position of the autonomous mobile body 200. Among the travel target points existing outside the circle C3 (FIG. 18A), the first travel target point P3 (FIG. 18A) that is closest to the current position and is ahead of the current position in the traveling direction of the autonomous mobile body 200. It is a driving target point until.

The target point selection unit 2412-3 selects the second travel target point P4 (FIG. 18B). The second travel target point P4 in the target point selection unit 2412-3 according to the second embodiment is a second circle C4 having a second radius r ₂ (FIG. 18B) centered on the current position of the autonomous mobile body 100 (FIG. 18B). Among the forward travel target points existing outside FIG. 18B), the forward travel target point is the shortest distance from the current position.

The calculation unit 2412-5 calculates a virtual travel target point VP1 that is an intersection of a line segment P4-V (FIG. 18C) connecting the current position of the autonomous mobile body 100 and the second travel target point P4 and the circumference of the circle C4. (FIG. 18C) is calculated. The base point arrangement unit 2412-7 arranges base points at a predetermined interval on the travel route. The travel route includes a current position, a virtual travel target point VP1, a second travel target point P4, and a forward travel target point between the second travel target point P4 and the first travel target point P3 from the current position. It is generated by connecting in the closest order.

Next, a base point generation method in the base point generation unit 2412 of the autonomous mobile body 200 according to the second embodiment will be described with reference to FIGS. 17 to 18E. FIG. 17 is a flowchart illustrating a base point generation method in the base point generation unit 2412 of the autonomous mobile body 200 according to the second embodiment.

First, the target point extraction unit 2412-1 sets the first travel target point P3 (step S2411). The setting method of the 1st driving | running | working target point P3 at this time is demonstrated using FIG. 18A. FIG. 18A is a diagram schematically illustrating a method of setting the first travel target point P3. First, the traveling extraction unit 2412-1 has a first circle C 3 having a first radius r ₁ centered on the current position of the autonomous mobile body 200 (corresponding to the center V of the autonomous mobile body area A in FIG. 18A). Define At this time, the first radius r ₁ is determined based on the traveling speed of the autonomous mobile body 200, the detectable distance of the obstacle S in the detection unit 3, and the like.
Then, a travel target point closest to the current position of the autonomous mobile body 200 is selected from the travel target points outside the first circle C3. Furthermore, among the selected travel target points, a travel target point that is ahead of the autonomous mobile body 200 in the traveling direction is defined as a first travel target point P3.

Next, the target point extraction unit 2412-1 is a travel target point that is ahead of the current position in the traveling direction and is between the current position of the autonomous mobile body 200 and the first travel target point P 3. The target point is extracted as a forward travel target point (step S2412). In FIG. 18A, the traveling target point indicated by the solid line is the forward traveling target point.

After extracting the forward travel target point, the target point selection unit 2412-3 sets the second travel target point P4 (step S2413). A method for setting the second travel target point P4 in the target point selection unit 2412-3 will be described with reference to FIG. 18B. FIG. 18B is a schematic diagram illustrating a method of setting the second travel target point P4. First, a target point selection unit 2412-3 was centered on the current position of the autonomous moving body 200, defining a second circle C4 having a second radius _{r 2.}
Here, the second radius r ₂ determines an allowable range of deviation between the autonomous mobile body 200 and the travel target point. In addition, when it is desired to quickly correct the deviation between the autonomous mobile body 200 and the travel target point, it is preferable that the second radius r ₂ be as small as possible. For example, in the example illustrated in FIG. 18B, the second radius r ₂ is a radius that includes only the forward travel target point closest to the autonomous mobile body 200.
In the autonomous mobile body 200 of the second embodiment, an appropriate first value is determined depending on an allowable range of deviation between the autonomous mobile body 200 and the travel target point, and how quickly the deviation from the travel target point is to be corrected. The value of 2 radius r ₂ is selected.

Next, the target point selection unit 2412-3 selects a forward travel target point that is the shortest distance from the current position among the forward travel target points that exist outside the second circle C4. Then, the target point selection unit 2412-3 sets the selected travel target point as the second travel target point P4.

After setting the second travel target point P4, the calculation unit 2412-5 calculates the virtual travel target point VP1 (step S2414). As shown in FIG. 18C, the calculation unit 2412-5 obtains an intersection point between the line P4-V connecting the current position and the second travel target point and the second circle C4. Then, the intersection point is set as a virtual travel target point VP1 (a point indicated by a black circle in FIG. 18C).

Next, the base point placement unit 2412-7 generates a travel route for placing the base point B (step S2415). In the base point arrangement unit 2412-7 of this embodiment, as shown in FIG. 18D, a travel route R4 connecting the current position of the autonomous mobile body 200 and the virtual travel target point VP1 set in step S2414, and virtual travel All of the forward travel target points existing between the travel route R5 connecting the target point VP1 and the second travel target point P4 set in step S2413 and between the second travel target point P4 and the first travel target point P3. The travel route R6 is connected to generate a travel route.

Finally, as shown in FIG. 18E, the base point placement unit 2412-7 places base points B at predetermined intervals on the travel route generated in step S2415 (step S2416). The interval at which the base point B is arranged is determined based on, for example, a control cycle T _c that is a cycle for controlling the autonomous mobile body 200.

By the method as described above, the base point generation unit 2412 of the autonomous mobile body 200 according to the second embodiment is similar to the base point generation unit 2411 of the autonomous mobile body 100 according to the first embodiment. Even if the position is slightly deviated from the planned travel route, this position deviation can be corrected. Therefore, the autonomous mobile body 200 according to the second embodiment can travel more faithfully on the planned travel route.

3. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.
(A) Other embodiment about structure of autonomous mobile body The moving part 1 of the autonomous mobile body 100 in 1st Embodiment had the two

main wheels

11a and 11b. And each of the

main wheels

11a and 11b was rotatably connected to the output rotating shafts of the

motors

13a and 13b. However, the number of main wheels and motors is not limited to two. The moving unit may include two or more main wheels and a plurality of motors connected to each of the main wheels. Depending on the application of the autonomous mobile body, the degree of freedom of movement, etc., the moving unit can be configured by an arbitrary number of main wheels and motors.

The present invention is widely applicable to an autonomous mobile body that autonomously travels while detecting an obstacle with a sensor.

100, 200 Autonomous moving body 1 Moving parts 11a, 11b Main wheels 13a, 13b Motor 2 Movement control device 21 Teaching part 22 Self-position estimating part 23 Storage part 24 Traveling control part 241 Calculation parts 2411, 2412 Base point generation part 2411-1 , 2412-1 Target point extraction unit 2411-3, 2412-3 Target point selection unit 2411-5, 2412-5 Calculation unit 2411-7, 2412-7 Base point placement unit 2413 Rotating autonomous mobile body region generation unit 2415 Expected travel Trajectory generation unit 243 Determination unit 245 Movement control unit 25 Motor drive unit 25a, 25b Motor driver 26 Obstacle information acquisition unit 3 Detection unit 31 Front detector 33 Rear detector 5 Operation unit 51a, 51b Operation handle 53 Setting unit 55 Display unit 57 Interface 59 Housing 7 Body 8 Auxiliary Wheels 8a, 8b Auxiliary Wheel 9 Attaching Member A Autonomous Mobile Object Region V Center of Autonomous Mobile Object Region Long Diameter W of Elliptical Autonomous Mobile Object Region Short Diameter B of Elliptical Autonomous Mobile Object Region Base Point B _n General base point _xn x coordinate of base point (travel route information) y coordinate of _n base point (travel route information) C1 circle C3 first circle C4 second circle r circle radius r ₁ first radius r ₂ Second radius P0 Unselected travel target points P1, P3 First travel target point P2, P4 Second travel target point VP, VP1 Virtual travel target point P4-V Line S connecting the current position and the second travel target point Obstacle S _n Obstacle d Distance between the obstacle and the center of the autonomous mobile body region _dn Distance between the obstacle and the center of the autonomous mobile body region T Expected travel locus T _n Travel route information t _n Time information θ posture information θ _n posture information R1, R2, R3, R4, R5, R6 travel route m a positive integer n is a positive integer θ rotation angle

Claims

A movement control device for an autonomous mobile body that includes a moving unit and a detecting unit that detects an obstacle, and moves so as to reproduce a planned travel route created in advance.
An autonomous mobile body having a current shape of the autonomous mobile body, travel route information representing a travel route to a future position that is a position traveled a predetermined distance from the current position, and a predetermined shape including the autonomous mobile body A calculation unit that calculates an expected travel locus from the current position to the future position based on the area;
A determination unit that determines whether or not the obstacle detected by the detection unit and the predicted traveling locus interfere with each other;
When the determination unit determines that the obstacle and the predicted traveling locus do not interfere with each other, a movement for generating a movement command for controlling the moving unit to reproduce the predicted traveling locus calculated by the calculation unit A control unit;
A mobile control device for an autonomous mobile body.
The shape of the autonomous moving body region in the moving plane of the autonomous moving body has anisotropy,
The travel route information includes position information on the travel route of the autonomous mobile body and posture information of the autonomous mobile body on the travel route,
The autonomous mobile body movement control device according to claim 1.
The autonomous mobile body movement control device according to claim 2, wherein a shape of the autonomous mobile body region in the movement plane is an ellipse.
4. The autonomous mobile body movement control device according to claim 2, wherein the travel route information further includes time information of the autonomous mobile body on the travel route.
The computing unit is
As the position information of the travel route information, a base point generation unit that generates a plurality of base points on the travel route;
As the posture information of the travel route information, a rotating autonomous moving body region generating unit that generates a rotating autonomous moving body region by rotating the autonomous moving body region around a normal axis of the moving plane;
Prediction for generating the predicted travel locus by arranging the rotation autonomous mobile body region generated by the rotation autonomous mobile body region generation unit at each of the base points generated by the base point generation unit. A travel locus generator,
The autonomous mobile body movement control device according to any one of claims 2 to 4, further comprising:
The planned travel route is composed of a plurality of travel target points,
The base point generator is
Among the travel target points, the travel target points that are located outside the first circle having the first radius centered on the current position from the current position, the travel target point closest to the current position, and the A target point extraction unit that extracts a forward travel target point that is the travel target point up to a first travel target point that exists ahead of the current position in the traveling direction;
A target point selection unit that extracts a second travel target point that is the shortest distance from the current position among the forward travel target points that exist outside a second circle having a second radius centered on the current position. When,
A calculation unit that calculates a virtual travel target point that is an intersection of a line connecting the current position and the second travel target point and a circumference of the second circle;
The current position, the virtual travel target point, the second travel target point, and the forward travel target point between the second travel target point and the first travel target point are close to the current position. A base point arrangement unit that arranges the base points at predetermined intervals on the travel route that is generated by connecting in order,
The movement control apparatus of the autonomous mobile body of Claim 5 provided with these.
When the determination unit determines that the obstacle and the predicted travel locus interfere with each other, the movement control unit stops the autonomous mobile body if the interference position is close to the current position, The movement control device for an autonomous mobile body according to any one of claims 1 to 6, wherein the mobile unit is controlled so as to decelerate the autonomous mobile body at a distance far from a current position.
The movement control unit controls the moving unit to stop the autonomous moving body when the determination unit determines that the obstacle and the predicted traveling locus interfere with each other. The movement control apparatus of the autonomous mobile body described in Crab.
A moving part;
A detection unit for detecting obstacles;
The movement control device according to any one of claims 1 to 8,
Autonomous mobile body equipped with.
A method for controlling an autonomous mobile body that includes a moving unit and a detecting unit that detects an obstacle, and moves so as to reproduce a planned travel route created in advance.
An autonomous mobile body having a current shape of the autonomous mobile body, travel route information representing a travel route to a future position that is a position traveled a predetermined distance from the current position, and a predetermined shape including the autonomous mobile body Calculating a predicted travel locus from the current position to the future position based on the area;
Determining whether the obstacle detected by the detection unit and the predicted traveling locus interfere with each other;
When it is determined that the obstacle and the predicted travel locus do not interfere with each other, the step of controlling the moving unit to reproduce the calculated predicted travel locus;
A method for controlling the movement of an autonomous mobile body.
The shape of the autonomous moving body region in the moving plane of the autonomous moving body has anisotropy,
The travel route information includes position information on the travel route of the autonomous mobile body and posture information of the autonomous mobile body on the travel route,
The movement control method of the autonomous mobile body according to claim 10.
The autonomous mobile body movement control method according to claim 11, wherein a shape of the autonomous mobile body region in the moving plane is an ellipse.
The movement control method for an autonomous mobile body according to claim 11 or 12, wherein the travel route information further includes time information on the travel path of the autonomous mobile body.
The step of calculating the predicted traveling locus includes
Generating a plurality of base points on the travel route as the position information of the travel route information;
As the posture information of the travel route information, rotating the autonomous mobile body region around a normal axis of the moving plane to generate a rotational autonomous mobile body region;
The step of generating the predicted travel locus by arranging the rotation autonomous mobile body region generated by the rotation autonomous mobile body region generation unit at each of the base points generated by the base point generation unit. When,
The movement control method for an autonomous mobile body according to any one of claims 11 to 13, further comprising: