WO2021024352A1 - Dispositif de commande et procédé de commande - Google Patents

Dispositif de commande et procédé de commande Download PDF

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Publication number
WO2021024352A1
WO2021024352A1 PCT/JP2019/030721 JP2019030721W WO2021024352A1 WO 2021024352 A1 WO2021024352 A1 WO 2021024352A1 JP 2019030721 W JP2019030721 W JP 2019030721W WO 2021024352 A1 WO2021024352 A1 WO 2021024352A1
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WIPO (PCT)
Prior art keywords
moving body
control
group
communication
unit
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PCT/JP2019/030721
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English (en)
Japanese (ja)
Inventor
祐也 土本
裕平 塚原
允裕 山隅
尚祐 伊藤
今村　直樹
栗重　正彦
Original Assignee
三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2019/030721 priority Critical patent/WO2021024352A1/fr
Priority to JP2021538567A priority patent/JP7046275B2/ja
Publication of WO2021024352A1 publication Critical patent/WO2021024352A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Definitions

  • the technology disclosed in the present specification relates to a mobile body control device and a mobile body control method.
  • a method of controlling a plurality of such moving bodies there are a method of using a central management system capable of controlling all moving bodies at once, and a method of using an autonomous decentralized system in which each moving body performs a control operation individually. There is.
  • Patent Document 1 describes a control rule for recovering a group (mobile group) when the group (mobile group) is divided due to a failure or disconnection of communication. ..
  • Patent Document 1 has a problem that it is inferior in versatility because it does not change the control rule according to the purpose or the situation.
  • the technology disclosed in the present specification has been made in view of the problems described above, and an object thereof is to provide a control technology for a plurality of mobile objects having high versatility. is there.
  • the first aspect of the technique disclosed in the present specification is a control device provided in the first moving body, in which the state quantity of the first moving body is different from that of the first moving body.
  • the first moving body and the first moving body are used by using at least the state amount of the second moving body among the amount, the state amount of the second moving body, and the surrounding information of the first moving body. It is selected from a plurality of control rules based on a group recognition unit for determining whether or not to recognize the two moving bodies as a moving body group and outputting the determination result as a group state, and the group state.
  • control unit for controlling the movement of the first moving body, the group state, the state amount of the second moving body, and the surrounding information of the first moving body using the control law.
  • a control rule change determination unit for determining whether or not to change the control law used in the control unit and outputting the determination result as a control law change signal is provided based on at least one of the above. The control unit selects the control rule to be used when controlling the movement of the first moving body based on the control rule change signal.
  • a second aspect of the technique disclosed herein is a state quantity of a first mobile body, a state quantity of at least one second mobile body that is a mobile body different from the first mobile body, and. , At least of the state amount of the first moving body, the state amount of the second moving body, and the surrounding information of the first moving body by acquiring the surrounding information of the first moving body.
  • the state quantity of the second moving body it is determined whether or not the first moving body and the second moving body are recognized as a moving body group, and the determination result is output as a group state.
  • the movement of the first moving body is controlled by using a control rule selected from a plurality of control rules, and the group state, the state quantity of the second moving body, and the state amount of the second moving body are controlled.
  • the control rule used when controlling the movement of the first moving body is selected.
  • the first aspect of the technique disclosed in the present specification is a control device provided in the first moving body, in which the state quantity of the first moving body is different from that of the first moving body.
  • the first moving body and the first moving body are used by using at least the state amount of the second moving body among the amount, the state amount of the second moving body, and the surrounding information of the first moving body. It is selected from a plurality of control rules based on a group recognition unit for determining whether or not to recognize the two moving bodies as a moving body group and outputting the determination result as a group state, and the group state.
  • control unit for controlling the movement of the first moving body, the group state, the state amount of the second moving body, and the surrounding information of the first moving body using the control law.
  • a control rule change determination unit for determining whether or not to change the control law used in the control unit and outputting the determination result as a control law change signal is provided based on at least one of the above.
  • the control unit selects the control rule to be used when controlling the movement of the first moving body based on the control rule change signal.
  • the information acquired by the information acquisition unit is used to determine whether or not to recognize the first moving body and the second moving body as a moving body group, depending on the situation. It is possible to control the movement of the first moving body by determining whether the control is performed as a group of moving bodies or individually.
  • the control rule in the control unit determines whether or not to change the control rule in the control unit based on the group state, the state amount of the first moving body, the state amount of the second moving body, or the surrounding information of the first moving body. By determining, the movement of the first moving body can be controlled by an appropriate control rule according to the situation.
  • a second aspect of the technique disclosed herein is a state quantity of a first mobile body, a state quantity of at least one second mobile body that is a mobile body different from the first mobile body, and. , At least of the state amount of the first moving body, the state amount of the second moving body, and the surrounding information of the first moving body by acquiring the surrounding information of the first moving body.
  • the state quantity of the second moving body it is determined whether or not the first moving body and the second moving body are recognized as a moving body group, and the determination result is output as a group state.
  • the movement of the first moving body is controlled by using a control rule selected from a plurality of control rules, and the group state, the state quantity of the second moving body, and the state amount of the second moving body are controlled.
  • the control rule used when controlling the movement of the first moving body is selected.
  • the information acquired by the information acquisition unit is used to determine whether or not to recognize the first moving body and the second moving body as a moving body group, depending on the situation.
  • FIG. 1 is a diagram conceptually showing an autonomous distributed control device 3 of a mobile body group and a mobile body 1 to be controlled thereof according to the present embodiment.
  • FIG. 2 is a diagram showing an example of a plurality of moving bodies.
  • the autonomous distributed control device 3 includes a group recognition unit 4, an information acquisition unit 5, an integrated control unit 6, and a control rule change determination unit 7. Further, the integrated control unit 6 includes a consensus control unit 61, a covering control unit 62, and a motion control unit 63.
  • the moving body 1 in the present embodiment whose example is shown in FIGS. 1 and 2 is, for example, a two-wheeled robot. Further, the moving body 2 adjacent to the moving body 1 as shown in FIG. 2 is also a two-wheeled robot, for example.
  • the moving body 1 and the moving body 2 are two-wheeled robots, but any moving body such as a four-wheeled automobile, an artificial satellite, or a drone, which is controlled to a predetermined position and orientation by actuator drive. It can be anything. Further, the moving body 1 and the moving body 2 are not limited to the same type of moving body.
  • adjacent means that the moving body 1 and the moving body 2 exist in a predetermined space.
  • FIG. 3 is a flowchart showing an example of a control rule switching operation according to the present embodiment.
  • the state quantity and surrounding information of the moving body (moving body 1) are acquired (step ST01 in FIG. 3).
  • the group state is determined based on these (step ST02 in FIG. 3).
  • step ST03 in FIG. 3 it is determined whether or not there is another moving body (moving body 2) regarded as a group (moving body group) (step ST03 in FIG. 3). Then, when another moving body (moving body 2) exists, that is, when it corresponds to "YES" branching from step ST03 whose example is shown in FIG. 3, the process proceeds to step ST04 whose example is shown in FIG. move on. On the other hand, when there is no other moving body (moving body 2), that is, when it corresponds to "NO" branching from step ST03 shown in FIG. 3, an example is shown in step ST05. Proceed to.
  • control group control
  • the motion control of the moving body is performed by selecting either consensus control or covering control, which are control rules having different control purposes, according to the purpose or the situation.
  • the consensus control means a control that converges the states of a plurality of controlled objects (moving bodies) to the same value.
  • the coating control refers to controlling a moving body so as to optimally cover a given region.
  • step ST05 the motion control of the moving body (moving body 1) is performed by independent control (specifically, path tracking control) that does not depend on the state quantity of the other moving body (moving body 2). I do. Details will be described below.
  • the group recognition unit 4 in FIG. 1 determines whether or not to control the moving body 1 and the moving body 2 as a group (moving body group) based on the information acquired by the information acquisition unit 5 described later. To do.
  • the group recognition unit 4 determines that the moving body 1 has acquired the state quantity of the moving body 2 based on the information acquired by the information acquisition unit 5, and regards these as a group (moving body group). It is one of the conditions.
  • the group recognition unit 4 may determine whether or not to consider these as a group (moving body group) according to the state amount of the moving body 1 or the state amount of the moving body 2. For example, when making a judgment based on the positional relationship or distance between the moving body 1 and the moving body 2, if the distance between the moving bodies is large, it is not regarded as a group (moving body group) and the distance between the moving bodies. If they are close to each other, they are regarded as a group (mobile group).
  • the condition for determining whether or not to consider a plurality of moving bodies as a group may be the relative speed of these moving bodies. For example, when the relative velocity between a plurality of moving bodies is smaller than 0, the distance between the moving body 1 and the moving body 2 decreases, so that it can be regarded as a group (moving body group). On the contrary, when the relative velocity between the plurality of moving bodies is larger than 0, the distance between the moving body 1 and the moving body 2 increases, so that the group (moving body group) is not regarded.
  • the relative speed is compared with 0 for the determination, but an arbitrary threshold value may be set and used for the determination.
  • the future state quantity may be estimated from the current state quantity of the moving body, and further, it may be determined whether or not a plurality of moving bodies are regarded as a group (moving body group) based on the future state quantity. By making a judgment based on the future state quantity, it is possible to realize group control that achieves the control purpose faster.
  • an evaluation function using a plurality of state quantities may be set, and when the value of the evaluation function is equal to or greater than the threshold value, a plurality of moving objects may be regarded as a group (moving object group).
  • the group recognition unit 4 may determine whether or not to consider a plurality of moving objects as a group (moving body group) based on the surrounding information (surrounding information) acquired by the information acquisition unit 5. For example, in a narrow passage, it is desirable that a plurality of moving bodies are lined up in a straight line. Therefore, the moving bodies 2 arranged before and after the moving body 1 may be regarded as a group (moving body group). Further, in a place where moving bodies are likely to be crowded, in order to avoid a collision, all other moving bodies existing within a certain range from the moving body 1 may be regarded as a group (moving body group).
  • the group recognition unit 4 When the "condition to be regarded as a group" shown in the above example is satisfied, the group recognition unit 4 outputs that the moving body 1 and the moving body 2 are a group (moving body group) as a group state.
  • FIG. 4 and 5 are diagrams for explaining the group state.
  • FIG. 4 when another moving body 2A, moving body 2B, moving body 2C and moving body 2D are arranged with respect to the moving body 1, the state of FIG. 4 to the state of FIG. 5 Consider arranging them in a straight line.
  • FIG. 6 shows an object (another moving body) that the moving body 1 considers as a group (moving body group) in the state shown in FIG.
  • the arrows point from the moving body 1 to the moving body 2A, from the moving body 1 to the moving body 2B, and from the moving body 1 to the moving body 2C, in which the moving body 1 is the moving body 2A and the moving body 2C.
  • 2B and mobile 2C are regarded as a group (mobile group).
  • the moving body 2A shall act independently based on a preset action command or a sequentially updated action command.
  • a moving body is called a leader machine.
  • FIG. 6 an arrow starting from the moving body 2A is not shown, which means that the moving body 2A is a leader machine that acts independently.
  • the moving body 2B, the moving body 2C, and the moving body 2D each have the same autonomous distributed control device 3 as the moving body 1.
  • the autonomous decentralized control device 3 of the moving body 1 determines whether or not the adjacent moving body 2A, moving body 2B, moving body 2C, and moving body 2D are regarded as a group (moving body group).
  • the autonomous decentralized control device 3 determines whether or not the moving body 1 can acquire the state amount of another moving body based on the information acquired by the information acquisition unit 5, and further, the determination result. Based on, it is determined whether or not the moving body 1 and another moving body are regarded as a group (moving body group), and the group state is determined.
  • the moving body 1 can acquire all the state quantities of the moving body 2A, the moving body 2B, the moving body 2C, and the moving body 2D.
  • the group recognition unit 4 determines one of these patterns as the group state.
  • the moving body 2A is regarded as another moving body located behind the moving body 1, and the moving body 1 regards the moving body 2A as a group (moving body group).
  • the moving body 2B and the moving body 2C are regarded as moving bodies located in front of the moving body 1, respectively, and the moving body 1 regards the moving body 2B and the moving body 2C as a group (moving body group).
  • the moving body 2D since the moving body 2D is located at a position farther from the moving body 1 than the moving body 2B and the moving body 2C, the moving body 1 does not consider the moving body 2D as a group (moving body group).
  • the mobile body 2B, the moving body 2C, and the moving body 2D having the same autonomous decentralized control device 3 as the moving body 1 also determine whether or not each of the other moving bodies is regarded as a group (moving body group). ..
  • FIG. 7 shows an object (another moving body) that the moving body 2B considers as a group (moving body group) in the state shown in FIG.
  • the arrows point from the moving body 2B to the moving body 1 and from the moving body 2B to the moving body 2C, respectively, in which the moving body 2B refers to the moving body 1 and the moving body 2C as a group (moving body group). It shows that it is regarded.
  • FIG. 8 shows an object (another moving body) that the moving body 2C considers as a group (moving body group) in the state shown in FIG.
  • the arrows point from the moving body 2C to the moving body 1 and from the moving body 2C to the moving body 2B, respectively, in which the moving body 2C refers to the moving body 1 and the moving body 2B as a group (moving body group). It shows that it is regarded.
  • FIG. 9 shows an object (another moving body) that the moving body 2D considers as a group (moving body group) in the state shown in FIG.
  • the arrow points from the moving body 2D to the moving body 2C, which indicates that the moving body 2D considers the moving body 2C as a group (moving body group).
  • FIG. 10 is a diagram showing an example of a control structure of the entire group by superimposing the arrows shown in FIGS. 6, 7, 8 and 9, respectively.
  • the moving body 2A does not recognize the moving body 1, the moving body 2B, the moving body 2C, and the moving body 2D as a group (moving body group), but the moving body 1 with respect to the moving body 2A acting independently. By acting in cooperation with each other, control as a mobile group can be realized.
  • the moving body 1 and the moving body 2D are not regarded as a group (moving body group), the moving body 2D regards the moving body 1 as a group (moving body group) and controls the movement of the moving body 2B.
  • the mobile 2C is regarded as a group (mobile group). Therefore, although the moving body 1 and the moving body 2D are not regarded as a group (moving body group), they can indirectly interact with each other to realize control as a moving body group.
  • the arrow points from the moving body 1 to the moving body 2A, but does not point from the moving body 2A to the moving body 1 (directed graph).
  • the moving body 1 and the moving body 2B have arrows facing each other (undirected graph).
  • the control performance as a group control can be improved by regarding each other as a group (mobile group) (that is, an undirected graph).
  • the group recognition unit 4 separates the objects to be regarded as a group (moving body group) and reduces the number of objects to avoid or calculate the communication delay. It is also possible to realize a reduction in the amount.
  • FIG. 11 is a diagram conceptually showing an example of the configuration of the information acquisition unit 5.
  • the information acquisition unit 5 includes a direct information acquisition unit 51, an indirect information acquisition unit 52, and a communication mode switching unit 53.
  • the information acquisition unit 5 acquires the state quantity of the moving body 1 and other moving bodies, or the surrounding information of the moving body 1 as information for controlling the moving body 1.
  • the direct information acquisition unit 51 acquires the state quantity of the moving body 1 or the surrounding information of the moving body 1. For example, as the state quantity of the moving body 1, the position information of the moving body 1 is acquired by the global positioning system (GPS).
  • GPS global positioning system
  • the direct information acquisition unit 51 acquires the relative distance between the moving body 1 and the other moving body, or the relative position of the other moving body as seen from the moving body 1 by a camera, millimeter wave, radar, or the like.
  • the relative distance between the moving body 1 and the other moving body is the state quantity of the moving body 1 and the other moving body. Since the relative distance, the relative position, and the relative speed are state quantities related to both the moving body 1 and the other moving body, they are also the state quantities of the moving body 1 (first moving body) and other moving bodies. It is also the state quantity of (second moving body).
  • the direct information acquisition unit 51 acquires the state quantity of the moving body 1 by using the state quantity estimation formula based on the information obtained from GPS or the above sensor.
  • the information acquisition unit 51 can directly acquire various state quantities such as velocity or acceleration by properly using the type of sensor to be used.
  • the direct information acquisition unit 51 acquires map information or obstacle information as surrounding information of the moving body 1.
  • the indirect information acquisition unit 52 acquires the state amount of the moving body 1, the state amount of the other moving body, or the surrounding information of the moving body 1 through communication with another moving body.
  • More information can be acquired by the mobile body 1 acquiring not only the information directly acquired by the information acquisition unit 51 but also the information from another mobile body via communication. Further, since control can be performed based on this information, the control performance is improved particularly when controlling as a group (moving body group).
  • the information regarding the relative distance or the relative position may be acquired by the direct information acquisition unit 51, or may be calculated based on the information acquired by the indirect information acquisition unit 52.
  • the information regarding the position of the moving body 1 is directly acquired by the information acquisition unit 51 by GPS. Further, the indirect information acquisition unit 52 acquires information on the position of the other mobile body by communication from the other mobile body. After that, the relative distance or relative position of the moving body 1 can be calculated using the position of the moving body 1 and the position of another moving body.
  • the integrated control unit 6 controls the movement of the moving body 1 based on the above-mentioned group state.
  • the integrated control unit 6 has two or more types of control rules, and the control rule change determination unit 7 determines whether or not to change the control law.
  • control rule change determination unit 7 changes the control rule in the integrated control unit 6 based on the group state, the state amount of the moving body 1, the state amount of another moving body, or the surrounding information of the moving body 1. Is determined, and the determination result is output as a control rule change signal.
  • the integrated control unit 6 has three types of control rules, and the control rule change determination unit 7 outputs the corresponding three types of control rule change signals.
  • ⁇ Switching condition 1> In the switching condition 1, the consensus control and the covering control are switched based on the group state. Specifically, from the group state, when the number of other moving bodies regarded as a group (moving body group) is a certain number or more, the consensus control is applied, and the other moving bodies regarded as a group (moving body group) If it is less than a certain number, the coating is controlled.
  • ⁇ Switching condition 2> the consensus control and the covering control are switched based on the state quantities of the moving body 1 and other moving bodies. For example, when the relative distance is more than the threshold value, the relative distance can be adjusted to an arbitrary distance by using consensus control. Further, when the relative speed is equal to or higher than the threshold value, it is expected that the relative distance will increase in the future. Therefore, by using consensus control, it is possible to prevent the relative distance from increasing.
  • the relative distance is less than the threshold value
  • covering control is applied.
  • the coating control when the distance between the moving bodies is short, it is possible to maintain an appropriate distance so that the moving bodies do not come too close to each other. In this case, it is not necessary to set an appropriate relative distance as in the consensus control, and the distance between the moving bodies can be determined by the mutual positional relationship.
  • ⁇ Switching condition 3> the consensus control and the covering control are switched based on the surrounding information of the moving body 1. For example, when the sensor detects that the surrounding space is narrow, covering control is used. In the coating control, when the distances between the moving bodies are short, it is possible to maintain an appropriate distance so that the moving bodies do not come too close to each other. In this case, it is not necessary to set an appropriate relative distance as in the consensus control, and the distance between the moving bodies can be determined by the mutual positional relationship.
  • consensus control it is possible to control the distance between the moving bodies by setting an arbitrary value so that the plurality of moving bodies do not spread too much in a wide space.
  • the surrounding information may be received from the infrastructure equipment by communication, or preset map information may be used. Further, the control rule may be switched depending on the presence or absence of an obstacle, not limited to the size of the space.
  • the switching condition of the control rule may be a combination of the switching condition 1, the switching condition 2 and the switching condition 3 described above.
  • the density is calculated by referring to the number of other moving bodies recognized as a group (moving body group) and the distance between the other moving bodies, and the density is equal to or higher than the threshold value. If there is, switch to coating control.
  • control law of another moving body in the vicinity may be acquired via communication, and the control law of the moving body 1 may be switched according to the control law of the other moving body.
  • the control rule of the moving body 1 is also consensus control. In this way, the control performance can be improved by controlling the group (moving body group) according to the same control rule.
  • the motion control unit 63 in the integrated control unit 6 receives the control rule change signal which is the output of the control rule change determination unit 7 and changes the control rule.
  • the motion control unit 63 controls the motion of the moving body 1 so that the moving body 1 moves to a designated point without depending on the state quantity of the other moving body.
  • a proportional-integral-diffrential control controller (PID) controller is configured so that the designated point and the position of the moving body 1 match, and the operation amount of the moving body 1 is calculated.
  • the motion control unit 63 controls the motion of the moving body 1 based on the operation amount output from the consensus control unit 61 described later.
  • the consensus control unit 61 calculates the operation amount of the moving body 1 so as to match an arbitrary state amount of the moving body 1 with a desired state designation amount. The details of consensus control will be described later.
  • the motion control unit 63 controls the motion of the moving body 1 based on the operation amount output from the covering control unit 62 described later.
  • the covering control unit 62 calculates a target position within the boundary generated from the position of the moving body 1 and the position of another moving body, and operates the moving body 1 based on the position of the moving body 1 and the target position. Is calculated. The details of the coating control will be described later.
  • the operation amount of the moving body 1 is the target speed, but other operation amounts such as the target acceleration may be used instead of the target speed. Further, it may be a combination of a plurality of operation amounts.
  • the target speed which is the above-mentioned operation amount, is added to the current position of the moving body 1 to obtain a new position command. Further, the position of the moving body 1 is controlled by passing the deviation between the new position command and the position of the moving body 1 through the PID controller. In this way, the motion control unit 63 controls the motion of the moving body 1.
  • the moving body 1 and the moving body 2A, the moving body 2B, the moving body 2C and the 2D are numbered respectively.
  • each moving body can be expressed by the equations of state of the following equations (1-1) and (1-2).
  • x k (t) is the position vector of the moving object number k
  • u k (t) is the control input vector of the moving object in the k-th
  • a k and B k are the k-th It is a parameter matrix of the moving body
  • x k 0 is the initial position vector of the moving body No. k.
  • Z 1j corresponding to the relative position may be acquired by using a sensor or the like, or the difference between the position of the moving body 1 and the position of another moving body may be calculated.
  • the desired state specified value d 1j (d x1j, d yij) of the respective other mobile 2A, mobile 2B, set to the mobile 2C and mobile 2D.
  • the manipulated variable u for controlling the moving body 1 so that x ij and dig match can be calculated.
  • the formula (1-3) is the following formula (1-5) in the example shown in FIG.
  • a ij is set as 1 for a moving body that is regarded as a group (moving body group) from the group state, and 0 for a moving body that is not regarded as a group (moving body group).
  • the desired state designation value d 1j when the desired state designation value d 1j is a zero vector, control is performed so that the position of the moving body 1 and the position of the other moving body match. If the desired state designation value d 1j is not a zero vector, it is controlled so as to be arranged with a distance of
  • d x1j may be a non-zero constant and dy1j may be 0.
  • a plurality of moving bodies can be arranged in a row with reference to the position of the moving body 2A.
  • the equation (1-6) may be obtained by adding the repulsive force U 1j of the moving body 1 to the other moving body j to the equation (1-4).
  • the repulsive force U 1j is calculated by dividing the adjustment gain b by the relative distance
  • the matching state quantity is used as the position of the moving body, but the matching state quantity may be used as the speed of the moving body. Further, it may be a state quantity that matches both the position of the moving body and the speed of the moving body.
  • the covering control unit 62 controls the target to be the group (moving body group) recognized by the group recognition unit 4 based on the information obtained by the direct information acquisition unit 51 or the indirect information acquisition unit 52.
  • the covering control calculates the target position in the boundary generated from the position of the moving body 1 and the position of another moving body, and operates the moving body 1 based on the position of the moving body 1 and the target position. It is a control to calculate the quantity.
  • the covering control has an advantage that it is easy to avoid a collision between the moving bodies by considering the moving body 1 and the other moving bodies separately in a region separated by a boundary.
  • the application area of the covering control is set based on the information around the moving body 1 (surrounding information).
  • the application area of the covering control may be set in advance or may be acquired by communication from the outside.
  • FIG. 12 is a diagram showing an example of an application area and a boundary of coating control. It is assumed that the application area of the covering control is an area in which the moving body 1 and other moving bodies are included in the range.
  • the application area of the covering control once set is treated as unchanged, but based on the state quantity of the moving body 1 and other moving bodies or the surrounding information of the moving body 1. May be changed.
  • the application area of the coating control is set based on the surrounding information of the moving body 1.
  • map information is used as the surrounding information of the moving body 1.
  • the map information may be set in the moving body 1 in advance, or may be acquired by communication from the outside.
  • the length W of one side of the square is determined from the size of the room.
  • the application area of the coating control is not limited to a square, but may be a rectangle, a circle, or the like. Further, in the case of being outdoors, the application area of the covering control may be set based on the obstacles around the moving body 1. Further, in the case of a moving body traveling on a road, road information such as a road width or the number of lanes may be used as map information.
  • the boundary 100 is set from the position of the moving body 1 and the position of another moving body.
  • the boundary 100 divides the application region of the covering control into a region of the moving body 1 and a region of another moving body.
  • the method of dividing the application area of the covering control is not particularly limited, but for example, the application area of the covering control is set with the perpendicular bisector between the position of the moving body 1 and the position of the other moving body as the boundary 100. To split.
  • Voronoi division is used as a method of dividing the application area of the coating control.
  • the moving body 1 searches for an object connected by a Delaunay triangle from the group state, and performs Voronoi division.
  • the weighting function value is obtained from the weighting function ⁇ (q) of the following equation (2-1).
  • q represents the coordinates of a point in the application area of the covering control.
  • the weighting function is set by the following equation (2-2).
  • ⁇ (q) the value of the weighting function is set so as to decrease toward the coordinates p at an arbitrary point.
  • r is a variable for adjusting the value of the weight function.
  • a weighting function for realizing a desired arrangement can be set by setting the value of the weighting function at a specific location to be large or small.
  • the operation amount of the moving body 1 is calculated based on the position of the moving body 1 and the target position D 1 .
  • the mass (C 1 ) represented by the following equation (2-3) is the mass
  • the cent (C 1 ) is the region C 1 . Corresponds to the position of the center of gravity.
  • the operation amount of the coating control is calculated by the following equation (2-4).
  • k is the control gain of the covering control
  • the operation amount u 1 is calculated based on the deviation between the position x 1 of the moving body 1 and the center of gravity position D 1 which is the target position.
  • the application area of the covering control and the weight function value are set according to the desired formation, and the center of gravity position within the boundary calculated based on these is set as the target position to obtain the desired formation. Covering control can be realized.
  • the application area or weighting function of the covering control may be shared by communication in the surrounding moving body.
  • the cooperation as a group (mobile group) is strengthened, and the performance of the group control is improved.
  • the position of the moving body may be represented by an absolute coordinate system or a relative coordinate system based on an arbitrary point.
  • a reference point may be determined and the coordinate system may be set to that as the origin.
  • the origin of the relative coordinate system seen from the absolute coordinate system moves according to the speed of the reference moving body.
  • the indirect information acquisition unit 52 is a functional unit for the mobile body 1 to acquire information from the mobile body 2 by communication. Therefore, for example, even if the moving body 1 cannot directly obtain the information of the moving body 2A by the information acquisition unit 51, if the moving body 2B can acquire the information of the moving body 2A, for example, The mobile body 1 can indirectly acquire the information of the mobile body 2A from the mobile body 2B by communication.
  • indirect information acquisition unit 52 By providing the indirect information acquisition unit 52, it is possible to indirectly acquire information that cannot be acquired only by the direct information acquisition unit 51. Further, by communicating by a communication method suitable for the situation, for example, it is possible to acquire information on a long-distance moving object that is outside the detection range of the sensor.
  • control rule is determined after the group state is determined, but the mode of determination is not limited to this.
  • the control law may be determined after the group state is determined, and a new group state suitable for the control rule may be constructed from the group states. As a result, it is possible to obtain an additional effect that the optimum group control according to the control law can be performed.
  • 13 and 14 are diagrams schematically illustrating a hardware configuration when the autonomous distributed control device shown in FIG. 1 is actually operated.
  • FIGS. 13 and 14 may not be consistent with the configurations illustrated in FIG. 1, but the configuration exemplified in FIG. 1 is a conceptual unit. It is due to the fact that it is shown.
  • At least one configuration illustrated in FIG. 1 comprises a plurality of hardware configurations exemplified in FIGS. 13 and 14, and one configuration exemplified in FIG. 1 is composed of FIGS. 13 and 14. There are cases where a part of the hardware configurations illustrated in FIG. 1 is supported, and there are cases where a plurality of configurations exemplified in FIG. 1 are provided in one hardware configuration exemplified in FIGS. 13 and 14. Can be assumed.
  • FIG. 13 as a hardware configuration for realizing the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 in FIG. 1, a processing circuit 1102A for performing an operation and a storage capable of storing information can be stored.
  • the device 1103 is shown. These configurations are the same in other embodiments.
  • FIG. 14 shows a processing circuit 1102B that performs an operation as a hardware configuration for realizing the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 in FIG.
  • the configuration is the same in other embodiments.
  • the storage device 1103 includes, for example, a hard disk drive (Hard disk drive, that is, HDD), a random access memory (random access memory, that is, RAM), a read-only memory (read only memory, that is, ROM), a flash memory, and an erase program memory. (EPROM) and memory (storage medium) including volatile or non-volatile semiconductor memory, magnetic disk, flexible disk, optical disk, compact disk, mini disk or DVD, etc. Alternatively, it may be any storage medium used in the future.
  • the processing circuit 1102A may execute a program stored in a storage device 1103, an external CD-ROM, an external DVD-ROM, an external flash memory, or the like. That is, for example, it may be a central processing unit (CPU), a microprocessor, a microprocessor, or a digital signal processor (DSP).
  • CPU central processing unit
  • DSP digital signal processor
  • the control rule change determination unit 7 is realized by software, firmware, or a combination of software and firmware in which a program stored in the storage device 1103 is executed by the processing circuit 1102A.
  • the functions of the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 may be realized, for example, by coordinating a plurality of processing circuits.
  • the software and firmware may be described as a program and stored in the storage device 1103.
  • the processing circuit 1102A realizes the above function by reading and executing the program stored in the storage device 1103. That is, the storage device 1103 may store a program in which the above functions are eventually realized by being executed by the processing circuit 1102A.
  • processing circuit 1102B may be dedicated hardware. That is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an integrated circuit (application specific integrated circuit, that is, an ASIC), a field-programmable gate array (FPGA), or a circuit in which these are combined. It may be.
  • the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 are realized by operating the processing circuit 1102B.
  • the functions of the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 may be realized by separate circuits or may be realized by a single circuit.
  • the functions of the group recognition unit 4, the integrated control unit 6, and the control rule change determination unit 7 are partially realized in the processing circuit 1102A that executes the program stored in the storage device 1103, and some of them are dedicated. It may be realized in the processing circuit 1102B which is the hardware of the above.
  • the information acquisition unit 5 is composed of various sensors or communication receivers.
  • the autonomous decentralized control device 3 can use the state amount of the moving body 1, the state amount of another moving body, or the surroundings of the moving body 1 as information for controlling the moving body 1.
  • the group recognition unit 4 that determines whether or not to recognize the moving body 1 and other moving bodies as a group (moving body group) by using the information acquisition unit 5 for acquiring information and the information acquired by the information acquisition unit 5.
  • the integrated control unit 6 that controls the movement of the moving body 1 based on the group state that is the output of the group recognition unit 4, and the group state, the state amount of the moving body 1, the state amount of another moving body, or the movement. It is provided with a control rule change determination unit 7 for determining whether or not to change the control rule in the integrated control unit 6 based on the surrounding information of the body 1.
  • the information acquired by the information acquisition unit 5 is used to determine whether or not the moving body 1 and other moving bodies are recognized as a group (moving body group), depending on the situation. It is possible to control the movement of the moving body 1 by determining whether the control is performed as a group (moving body group) or individually.
  • the movement of the moving body 1 can be controlled by an appropriate control rule according to the situation.
  • the group recognition unit 4 recognizes a pattern of a mobile group that can be realized by the mobile group based on whether or not the mobile body 1 can acquire the state amount of another mobile body, and further, it is feasible.
  • the group recognition unit 4 recognizes a pattern of a mobile group that can be realized by the mobile group based on whether or not the mobile body 1 can acquire the state amount of another mobile body, and further, it is feasible.
  • they are based on a predetermined priority, a state amount of the moving body 1, a state amount of another moving body, or surrounding information of the moving body 1.
  • One of the patterns is determined as a group state.
  • the moving body 1 can control another moving body as a group (moving body group). Further, when there are a plurality of feasible patterns of the mobile group, the group is based on a predetermined priority, the state quantity of the mobile 1 and other mobiles, or the surrounding information of the mobile 1. By determining one state, the group state can be changed according to various purposes or situations, so that optimum group control can be executed.
  • the integrated control unit 6 is an agreement control that calculates an operation amount of the moving body 1 so as to match an arbitrary state amount of the moving body 1 with a desired state designation amount, or a position of the moving body 1 and other movements.
  • the control is performed based on the covering control, which calculates the target position in the boundary generated from the position of the body and calculates the operation amount of the moving body 1 based on the position of the moving body 1 and the target position.
  • control rules with different control purposes can be used properly, so that control can be performed according to various purposes or situations.
  • the information acquisition unit 5 receives the state amount of the moving body 1 or the state amount of the moving body 1 by communication from the direct information acquisition unit 51 that acquires the surrounding information of the moving body 1 from another moving body. It is provided with an indirect information acquisition unit 52 that acquires the state amount of the moving body or the surrounding information of the moving body 1.
  • the application area of the covering control is set based on the surrounding information of the moving body 1, and the weight function value (which defines the weight of a specific place) based on the applied area of the covering control is set.
  • the position of the center of gravity in the boundary is calculated based on the application area of the covering control, the weight function value, and the boundary, and the position of the center of gravity is set as the target position in the boundary.
  • FIG. 11 is a diagram conceptually showing an example of the configuration of the information acquisition unit 5.
  • the information acquisition unit 5 includes a direct information acquisition unit 51, an indirect information acquisition unit 52, and a communication mode switching unit 53.
  • the communication mode switching unit 53 uses the state quantity of the moving body 1 and other moving bodies, the surrounding information of the moving body 1, the communication state between the moving bodies, the group state, or the control rule change signal. Based on this, the communication mode of the indirect information acquisition unit 52 is switched.
  • the communication status between mobiles refers to, for example, signal-to-noise ratio, error rate, received power, and the like.
  • the signal-to-noise ratio is large, the error rate is small, or the received power is large, it can be said that the communication state is good.
  • the specific method of switching the communication mode will be described later.
  • the communication modes are, for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), Zigbee (registered trademark), long term evolution (LTE) (registered trademark), 5G, Wi-SUN, dedicated short range communications.
  • DSRC wireless communication standard
  • 802.11p a wireless communication standard
  • the wireless communication standard not only the wireless communication standard but also a communication protocol other than the physical layer such as TCP, UDP, IP, HTTP or MQTT may be used.
  • the communication mode is not limited to these.
  • the communication mode switching unit 53 includes a first communication mode to an Nth communication mode (N is a natural number of 2 or more), and selects one of these communication modes to switch the communication mode.
  • each communication mode is associated with the state quantities of the moving body 1 and other moving bodies, the surrounding information of the moving body 1, the communication state between the moving bodies, the group state, or the control rule change signal in advance. Switch to the applicable communication mode.
  • the communication mode may be switched to a communication mode different from the current communication mode in order, and the communication mode may be switched to the communication mode having the best communication state.
  • the communication mode can be switched, for example, in the following form.
  • the communication mode before control switching To switch to communication (second communication mode) in a communication mode such as TCP / IP having an automatic retransmission request.
  • the determination of the importance of the communication frequency and the communication reliability may be determined in advance according to the control rule. For example, in the case of consensus control, even if communication with some mobiles temporarily fails, the graph can be configured and controlled using the information with the mobiles that have succeeded in communication. However, it may be judged that the communication frequency is important. Further, in the case of covering control, if communication fails and a graph in which a part is missing is constructed, the behavior may be different from the assumption. Therefore, it may be judged that communication reliability is more important than communication frequency.
  • the communication mode from the communication mode before the control switching is changed to the communication mode via the access point such as the Wi-Fi infrastructure mode. Switch to communication with. As a result, communication collisions can be efficiently avoided.
  • the judgment as to whether or not the control cycle is long may be made by judging that there are few communication partners when the control cycle is shorter than the preset threshold value.
  • the communication mode before switching the control is switched to the communication mode in which the communication directly communicates with each other without going through the access point, such as the ad hoc mode of Wi-Fi.
  • the communication delay can be shortened.
  • the communication is switched to the communication mode via the monitoring device as an access point. You may.
  • the monitoring device which is an access point, can collect information.
  • the communication mode after the control switching and the communication mode before the control switching are relatively important and the communication with the moving body having a long distance is relatively important after the control switching. If not, the communication mode before the control switching is switched to the communication mode in which the state quantities of each other are directly exchanged.
  • the communication power is relatively small, so the probability of success in communication is low, but in communication with a mobile body with a short distance, the communication power is relatively large, so communication is performed.
  • the importance can be judged by determining a threshold value in advance for the distance. For example, if the distance exceeds the threshold, it may be determined that it is not important.
  • control rule the correspondence between the control rule and the communication mode in switching is not limited to the above case.
  • the communication mode switching unit 53 uses the state amount of the moving body 1, the state amount of another moving body, the surrounding information of the moving body 1, the communication state between the moving bodies, the group state, or the control rule change signal. Switch the communication mode based on.
  • FIG. 15 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53A.
  • the communication mode switching unit 53A includes a communication performance requesting unit 531 and a communication mode selecting unit 532.
  • the communication performance requesting unit 531 communicates based on the state amount of the moving body 1, the state amount of another moving body, the surrounding information of the moving body 1, the communication state between the moving bodies, the group state, or the control rule change signal. Calculate the performance requirement.
  • Communication performance required values include, but are not limited to, communication frequency, communication distance, number of communication connections, error rate, or communication delay.
  • the communication performance of each communication mode shall be estimated in advance based on the measured value or the design value.
  • the communication mode selection unit 532 includes a first communication mode to an Nth communication mode (N is a natural number of 2 or more), and selects one of these communication modes based on the communication performance required value to select a communication mode. To switch.
  • the communication mode may be switched to a communication mode different from the current communication mode in order, and it may be determined whether or not the communication performance required value is satisfied.
  • the communication performance requirement unit 531 determines the communication performance requirement value (communication frequency) according to the control frequency of the control rule. From each communication mode, one of the communication modes satisfying the condition of "maximum control frequency ⁇ communication performance required value (communication frequency)" is selected.
  • the communication performance request unit 531 determines the value of the longest distance as the communication performance request value (communication distance) from the group state and the state quantities of the moving body 1 and other moving bodies (distance between the moving bodies).
  • the communication performance requesting unit 531 estimates the maximum communication distance in advance for each communication mode. From each communication mode, one of the communication modes satisfying the condition of "maximum communication distance ⁇ communication performance required value (communication distance)" is selected.
  • the communication performance request unit 531 determines the number of mobiles that need to communicate as the communication performance requirement value (number of communication connections) from the group state. Further, the communication performance requesting unit 531 estimates the maximum number of communication connections in advance for each communication mode. From each communication mode, select one of the communication modes that satisfy the condition of "maximum number of communication connections ⁇ communication performance required value (number of communication connections)".
  • the communication performance requirement unit 531 determines the communication performance requirement value (error rate) that can achieve stable control. In addition, the communication performance requesting unit 531 estimates in advance the maximum allowable error rate at which stable control can be achieved in each control rule. In addition, in each communication mode, the assumed error rate under the assumed conditions is estimated. From each communication mode, one of the communication modes satisfying the condition of "maximum allowable error rate ⁇ communication performance required value (error rate)" is selected.
  • the communication performance requirement unit 531 determines the communication performance requirement value (communication delay) that can achieve stable control.
  • the communication performance requesting unit 531 estimates in advance the maximum communication delay that can achieve stable control in each control rule. For example, the communication delay may be one in which the margin is subtracted from the control cycle. Further, the communication performance requesting unit 531 estimates the communication delay under the conditions assumed in advance in each communication mode. From each communication mode, one of the communication modes satisfying the condition of "maximum communication delay ⁇ communication performance required value (communication delay)" is selected.
  • the above communication performance requirement value may be calculated by multiplying by a coefficient according to the control law.
  • consensus control often has a longer communication distance between mobiles than cover control. Therefore, in order to give a margin to the communication distance as the communication performance required value, the value of the communication performance required value (communication distance) is doubled in the case of consensus control.
  • the communication performance requirement value that each control law emphasizes can be set, so that the optimum communication mode according to the control law can be determined.
  • the reliability of communication can be further improved by selecting the communication mode so as to satisfy the communication performance requirement according to the control rule or the state of the controlled object.
  • FIG. 16 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53B.
  • the communication mode switching unit 53B includes a communication performance requesting unit 531, a communication mode selecting unit 532, and a communication parameter search unit 533.
  • the communication parameter search unit 533 continuously changes a predetermined communication parameter to search for a communication parameter that satisfies the communication performance required value.
  • the communication parameters include transmission power, number of retransmissions, timeout time, Quality of Service (Quality of Service), and the like.
  • the communication parameters are not limited to these.
  • the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value based on the communication parameters.
  • communication parameters that satisfy the communication performance requirements can be set, so communication reliability is improved. Further, by improving the reliability of communication, stable control performance can be ensured.
  • FIG. 17 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53C.
  • the communication mode switching unit 53C includes a communication performance requesting unit 531, a communication mode selection unit 532, a communication parameter search unit 533, and a communication performance comparison unit 534 in the communication mode selection unit 532. To be equipped.
  • the communication performance is compared by actually performing communication in multiple communication modes, and after confirming whether or not the requirements for communication are satisfied, communication is performed. It is desirable to switch modes and control rules.
  • the communication performance comparison unit 534 switches the communication mode by simultaneously operating a plurality of communication modes to communicate when determining a change in the control rule, and further comparing the communication performance in each communication mode. Judge whether or not to do.
  • the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value based on the comparison result in the communication performance comparison unit 534.
  • the communication performance can be compared accurately by actually operating each communication mode and comparing the communication performance, and further, the optimum communication mode is selected. be able to. In addition, the reliability of communication is improved by this, and stable control performance can be ensured.
  • FIG. 18 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53D.
  • the communication mode switching unit 53D includes a communication performance requesting unit 531, a communication mode selection unit 532, a communication parameter search unit 533, and a communication performance comparison unit 534 in the communication mode selection unit 532.
  • a communication performance estimation unit 535 in the communication mode selection unit 532 is provided.
  • the communication performance estimation unit 535 estimates the communication performance of a communication mode different from the current communication mode, and determines whether or not to switch the communication mode.
  • the communication performance of the second communication mode the relationship between the communication performance and the request for communication based on the surrounding information, the state quantity of the moving body, or the control rule is acquired in advance by simulation or measurement, and further. , Corresponding relational expression or table, etc. can be prepared for estimation.
  • the communication performance comparison unit 534 compares the communication performance in each communication mode based on the estimation result in the communication performance estimation unit 535.
  • communication performance such as communication error rate can be estimated from the number of mobiles that communicate.
  • communication performance such as a communication error rate can be estimated from the distance to an adjacent mobile body.
  • the estimation method is not limited to these.
  • the optimum communication mode can be selected in a short time by estimating the communication performance according to the control law or the state of the controlled object.
  • the reliability of communication is improved by this, and stable control performance can be ensured.
  • FIG. 19 is a diagram conceptually showing an example of the configuration of the communication mode switching unit 53E.
  • the communication mode switching unit 53E includes a communication performance requesting unit 531, a communication mode selection unit 532, a communication parameter search unit 533, and a communication performance comparison unit 534 in the communication mode selection unit 532.
  • a communication performance estimation unit 535 in the communication mode selection unit 532 and a control parameter adjustment unit 536 to which an output from the communication performance comparison unit 534 is input are provided.
  • control parameter is, for example, a control cycle or a feedback gain.
  • control parameters are not limited to these.
  • control parameter adjusting unit 536 can improve the control performance by lengthening the control cycle in the integrated control unit 6 or reducing the feedback gain. Further, the control parameter adjusting unit 536 can improve the stability by reducing the feedback gain when the communication packet loss is large.
  • the replacement may be made across a plurality of embodiments. That is, it may be the case that the respective configurations shown in the examples in different embodiments are combined to produce the same effect.
  • the control device is a control device provided in the first mobile body, and is an information acquisition unit 5, a group recognition unit 4, a control unit, and a control rule change determination unit. 7 and.
  • the first moving body corresponds to, for example, the moving body 1.
  • the control unit corresponds to, for example, the integrated control unit 6.
  • the information acquisition unit 5 acquires the state amount of the moving body 1, the state amount of at least one second moving body which is a moving body different from the moving body 1, and the surrounding information of the moving body 1.
  • the second moving body corresponds to, for example, the moving body 2.
  • the group recognition unit 4 uses at least the state amount of the moving body 2 among the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1 acquired by the information acquisition unit 5. , It is determined whether or not the moving body 1 and the moving body 2 are recognized as a moving body group. Further, the group recognition unit 4 outputs the determination result as a group state.
  • the integrated control unit 6 controls the movement of the moving body 1 by using a control rule selected from a plurality of control rules based on the group state. Whether or not the control rule change determination unit 7 changes the control rule used in the integrated control unit 6 based on at least one of the group state, the state quantity of the moving body 2, and the surrounding information of the moving body 1. To judge. Further, the control rule change determination unit 7 outputs the determination result as a control rule change signal.
  • the integrated control unit 6 selects a control rule to be used when controlling the movement of the moving body 1 based on the control rule change signal.
  • control device includes a processing circuit 1102A for executing a program and a storage device 1103 for storing the program to be executed. Then, when the processing circuit 1102A executes the program, the following operations are realized.
  • the state amount of the moving body 1, the state amount of at least one moving body 2 which is a moving body different from the moving body 1, and the surrounding information of the moving body 1 are acquired. Then, the moving body 1 and the moving body 2 are moved by using at least the state amount of the moving body 2 among the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. Whether or not to recognize it as a group is determined, and the determination result is output as a group state. Then, based on the group state, the movement of the moving body 1 is controlled by using a control rule selected from a plurality of control rules.
  • control rule it is determined whether or not to change the control rule based on at least one of the group state, the state quantity of the moving body 2, and the surrounding information of the moving body 1, and the judgment result is the control rule. It is output as a change signal. Then, the control rule used when controlling the movement of the moving body 1 is selected based on the control rule change signal.
  • control device includes a processing circuit 1102B which is dedicated hardware. Then, the processing circuit 1102B, which is dedicated hardware, performs the following operations.
  • the state amount of the moving body 1, the state amount of at least one moving body 2 which is a moving body different from the moving body 1, and the surrounding information of the moving body 1 are acquired. Then, the moving body 1 and the moving body 2 are moved by using at least the state amount of the moving body 2 among the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. It is determined whether or not it is recognized as a group, and the determination result is output as a group state. Then, based on the group state, the movement of the moving body 1 is controlled by using a control rule selected from a plurality of control rules.
  • control rule it is determined whether or not to change the control rule based on at least one of the group state, the state quantity of the moving body 2, and the surrounding information of the moving body 1, and the judgment result is the control rule. Output as a change signal. Then, based on the control rule change signal, the control rule used when controlling the movement of the moving body 1 is selected.
  • the information acquired by the information acquisition unit 5 is used to determine whether or not the moving body 1 and other moving bodies are recognized as a group (moving body group), depending on the situation. It is possible to control the movement of the moving body 1 by determining whether the control is performed as a group (moving body group) or individually. Further, it is determined whether or not to change the control rule in the integrated control unit 6 based on the group state, the state amount of the moving body 1, the state amount of the moving body 2, or the surrounding information of the moving body 1. Therefore, the movement of the moving body 1 can be controlled by an appropriate control rule according to the situation.
  • the group recognition unit 4 is a feasible mobile body based on whether or not the information acquisition unit 5 has acquired the state quantity of at least one mobile body 2.
  • the pattern of the group is recognized and there are a plurality of feasible patterns of the moving body group, among the predetermined priority, the state amount of the moving body 2, and the surrounding information of the moving body 1.
  • one of the feasible mobile group patterns is output as a group state. According to such a configuration, when there are a plurality of feasible mobile group patterns, the optimum group state can be set from among them. Therefore, the control performance as a group (mobile group) can be improved.
  • the integrated control unit 6 when the integrated control unit 6 is a determination result indicating that the group state recognizes the moving body 1 and the moving body 2 as the moving body group, the agreement control or The movement of the moving body 1 is controlled by using the coating control. According to such a configuration, it is possible to carry out control suitable for various purposes or situations by properly using two different types of control rules (agreement control and cover control) among the control rules suitable for group control. it can.
  • the consensus control is a virtual repulsive force between the moving body 1 and the moving body 2 according to the relative distance between the moving body 1 and the moving body 2. Is the control that causes. According to such a configuration, it is possible to avoid a collision between moving bodies by generating a repulsive force by consensus control.
  • the application area of the coating control is set based on the surrounding information of the moving body 1, and the weight of a specific place in the application area of the coating control is defined.
  • a boundary is set based on the weight function value to be applied, the weight function value, and the boundary that divides the area of the moving body 1 and the area of the moving body 2 within the application area of the covering control. It is a control that calculates the position of the center of gravity inside and sets the position of the center of gravity as the target position within the boundary. According to such a configuration, it is possible to realize a coating control that tries a desired formation based on a weighting function.
  • the information acquisition unit 5 communicates with the mobile body 2, the state amount of the moving body 1, the state amount of the moving body 2, and the moving body 1. Acquire at least one of the surrounding information.
  • the indirect information acquisition unit 52 can indirectly acquire information that cannot be acquired only by the direct information acquisition unit 51. Further, by communicating by a communication method suitable for the situation, for example, it is possible to acquire information on a long-distance moving object that is outside the detection range of the sensor.
  • the information acquisition unit 5 is added to at least one of the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1.
  • the communication mode between the mobile body 1 and the mobile body 2 is switched based on at least one of the communication state, the group state, and the control rule change signal between the mobile body 1 and the mobile body 2.
  • a communication mode switching unit 53 is provided. According to such a configuration, it is possible to switch the optimum communication mode in the group control. As a result, the reliability of communication is improved and the stability of control is improved.
  • the communication mode switching unit 53A includes a communication performance requesting unit 531 and a communication mode selecting unit 532.
  • the communication performance requesting unit 531 changes the state amount of the moving body 1, the state amount of the moving body 2, the surrounding information of the moving body 1, the communication state between the moving body 1 and the moving body 2, the group state, and the control rule.
  • the communication performance requirement value is calculated based on at least one of the signals.
  • the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value from the plurality of communication modes. According to such a configuration, when switching the control law, the communication mode can be selected so as to satisfy the communication performance requirement according to the control law and the state of the controlled object. As a result, the reliability of communication is improved and the stability of control is improved.
  • the communication mode switching unit 53B includes a communication parameter search unit 533.
  • the communication parameter search unit 533 searches for a communication parameter that satisfies the communication performance requirement value by continuously changing the communication parameter.
  • the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value based on the communication parameters.
  • the communication mode switching unit 53C includes a communication performance comparison unit 534.
  • the communication performance comparison unit 534 operates a plurality of communication modes to communicate, and further compares the communication performance in each communication mode. Then, the communication mode selection unit 532 selects a communication mode that satisfies the communication performance required value based on the comparison result in the communication performance comparison unit 534. According to such a configuration, when switching the control law, it is possible to make an accurate comparison by actually comparing the communication performance, and it is possible to select the optimum communication mode. As a result, the reliability of communication is improved and the stability of control is improved.
  • the communication mode switching unit 53D includes a communication performance estimation unit 535.
  • the communication performance estimation unit 535 estimates the communication performance of the communication mode.
  • the communication performance comparison unit 534 compares the communication performance in each communication mode based on the estimation result in the communication performance estimation unit 535. According to such a configuration, the optimum communication mode can be selected in a short time by estimating the communication performance according to the control law or the state of the controlled object. As a result, the reliability of communication is improved and the stability of control is improved.
  • the communication mode switching unit 53D includes a control parameter adjusting unit 536.
  • the control parameter adjusting unit 536 adjusts the control parameters in the integrated control unit 6. According to such a configuration, the stability of control is improved by changing the control parameters according to the communication performance.
  • the state amount of the moving body 1, the state amount of at least one moving body 2 which is a moving body different from the moving body 1, and the surroundings of the moving body 1. Get at least one of the information. Then, whether the moving body 1 and the moving body 2 are recognized as a moving body group by using at least one of the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. It is determined whether or not it is present, and the determination result is output as a group state. Then, based on the group state, the movement of the moving body 1 is controlled by using a control rule selected from a plurality of control rules.
  • control rule change signal it is determined whether or not to change the control rule based on at least one of the group state, the state amount of the moving body 1, the state amount of the moving body 2, and the surrounding information of the moving body 1. Moreover, the judgment result is output as a control rule change signal. Then, based on the control rule change signal, the control rule used when controlling the movement of the moving body 1 is selected.
  • the information acquired by the information acquisition unit 5 is used to determine whether or not the moving body 1 and other moving bodies are recognized as a group (moving body group), depending on the situation. It is possible to control the movement of the moving body 1 by determining whether the control is performed as a group (moving body group) or individually. Further, it is determined whether or not to change the control rule in the integrated control unit 6 based on the group state, the state amount of the moving body 1, the state amount of the moving body 2, or the surrounding information of the moving body 1. Therefore, the movement of the moving body 1 can be controlled by an appropriate control rule according to the situation.
  • each component in the above-described embodiment is a conceptual unit, and within the scope of the technique disclosed in the present specification, one component is composed of a plurality of structures. And the case where one component corresponds to a part of a structure, and further, the case where a plurality of components are provided in one structure.
  • each component in the above-described embodiment shall include a structure having another structure or shape as long as it exhibits the same function.
  • each component described in the above-described embodiment is assumed to be software or firmware and corresponding hardware, and in both concepts, each component is a "part”. Alternatively, it is referred to as a "processing circuit” or the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne une technologie hautement polyvalente pour commander une pluralité de corps mobiles. Le présent dispositif de commande comporte : une unité d'acquisition d'informations ; une unité de reconnaissance de groupe qui utilise des informations acquises par l'unité d'acquisition d'informations pour délivrer un état de groupe indiquant si un premier corps mobile et un second corps mobile doivent ou non être reconnus comme constituant un groupe de corps mobiles ; une unité de commande qui, sur la base de l'état de groupe, commande le mouvement du premier corps mobile à l'aide d'une règle de commande sélectionnée parmi une pluralité de règles de commande ; et une unité de détermination de changement de règle de commande qui délivre un signal de changement de règle de commande indiquant si la règle de commande doit être changée ou non. Sur la base du signal de changement de règle de commande, l'unité de commande sélectionne la règle de commande à utiliser lors de la commande du mouvement du premier corps mobile.
PCT/JP2019/030721 2019-08-05 2019-08-05 Dispositif de commande et procédé de commande WO2021024352A1 (fr)

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