WO2022044098A1

WO2022044098A1 - Movement control device and movement control method

Info

Publication number: WO2022044098A1
Application number: PCT/JP2020/031922
Authority: WO
Inventors: 翔太河尻; 將白石
Original assignee: 三菱電機株式会社
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2022-03-03
Also published as: JP7175430B2; JPWO2022044098A1

Abstract

Provided is a movement control device that controls each of a plurality of moving objects that move autonomously such that the moving objects cooperate to execute work, the movement control device comprising: a work execution vector computation unit that determines an assigned region for each moving object by dividing up an entire region, determines a center of gravity of each assigned region, determines a distance between each moving object and the center of gravity of the assigned region, computes a direction of decreasing distance to the center of gravity of the assigned region for each moving object, determines a center of gravity of a moving object group, a center of gravity of the entire region, and the distance between the center of gravity of the moving object group and the center of gravity of the entire region, computes a direction of decreasing distance to the center of gravity of the entire region for each moving object, and computes, for each moving object, a work execution vector obtained as a linear combination of the two directions; and an algebraic connectivity computation unit that computes the algebraic connectivity, which is an indicator of the degree of connectivity of a network, and a gradient vector of the algebraic connectivity. In the case where a moving object would remain within communication range even after moving in the direction of the work execution vector, the movement control device controls the moving object in the direction of the work execution vector, whereas in the case where a moving object would go out of communication range by moving, the movement control device selects a direction of decreasing the distance to the center of gravity of the assigned region from among directions for which the connectivity of the network is invariant or increases and controls the moving object toward the selected direction.

Description

Movement control device and movement control method

The disclosed technology relates to a movement control device and a movement control method.

In the conventional movement control device, there is a device in which a plurality of autonomously moving mobile bodies cooperate with each other to perform work over a predetermined area. The work performed by the mobile body is typically cleaning work or monitoring work for defense, crime prevention, disaster prevention, and the like.

As an example of the prior art, Non-Patent Document 1 describes a movement control technique in which mobile bodies are distributed and arranged in the entire area while maintaining a robust communication network between mobile bodies in which a communication range is set. There is.

Specifically, the movement control device according to Non-Patent Document 1 assumes three virtual forces for carrying out the work, and moves and controls each moving body in the resultant force direction. This virtual force is a force for maintaining the connectivity of the network graph, a force for improving the robustness of the network graph, and a force for improving the degree of expansion into the area. Here, the network graph is a data structure based on a graph theory that abstracts a communication network composed of a plurality of mobile bodies with each mobile body as a vertex and a communication path between the mobile bodies as an edge.

While it is important to ensure communication between mobiles in order for multiple mobiles to cooperate and perform a given task, disperse and arrange the mobiles within the entire area. That is, it is important to improve the degree of deployment. To improve the robustness of the network graph is, in other words, to place the moving objects as close to each other as possible. That is, improving the robustness of the network graph and improving the degree of expansion into the region are contradictory opposite directions. In the prior art, although the force for improving the degree of expansion to the area is taken into consideration, the direction of the resultant force combined with the other two virtual forces does not always improve the degree of expansion to the area. There was a problem that there was no such thing.

The present disclosure technology is for solving the above-mentioned problems, and is a movement control device capable of moving so as to improve the degree of deployment of moving objects in the entire region under the constraint that network graphs are connected. It is intended to provide a movement control method.

The movement control device according to the present disclosure technique is a movement control device that controls each of the moving bodies so that a plurality of autonomously moving moving bodies perform work in cooperation with each other, and the movement is divided into all areas. The allocated area is determined for each body, the center of gravity of the allocated area is determined, the distance between each moving body and the center of gravity of the allocated area is determined, and the distance from the center of gravity of the allocated area is reduced for each moving body. The direction to be moved is calculated, the center of gravity of the moving body group, the center of gravity of the entire region, and the distance between the center of gravity of the moving body group and the center of gravity of the entire region are determined, and the center of gravity of the entire region is determined for each moving body. The work execution vector calculation unit that calculates the direction to reduce the distance and linearly connects the two directions to calculate the work execution vector for each moving object, and the algebraic connection degree, which is an index showing the degree of connection of the network. And an algebraic connection degree calculation unit for calculating an algebraic connection degree gradient vector, and when the network is still connected even if the moving object moves in the direction of the work execution vector, the work execution is performed. If the moving object is controlled in the direction of the vector and the network is no longer connected after moving, select the direction in which the connection degree of the network does not change or increases and the distance from the center of gravity of the allocated area decreases. To control.

The movement control device according to the present disclosure technology divides the entire area, determines the allocated area for each moving body, determines the center of gravity of the allocated area, determines the distance between each moving body and the center of gravity of the allocated area, and determines the moving body. The direction for reducing the distance from the center of gravity of the allocated area is calculated for each. Moving all the moving objects to the center of gravity of the allocated area means moving so as to improve the degree of expansion of the moving objects in the entire area. That is, reducing the distance between the moving body and the center of gravity of the allocated area improves the degree of expansion of the moving body in the entire area. In the present disclosure technique, the work execution vector is calculated based on the direction in which the distance between the moving body and the center of gravity of the allocated area is reduced.

Since the mobile control device according to the present disclosure technology controls the mobile body in the direction of the work execution vector if the mobile body is connected to the network, the degree of deployment of the mobile body in the entire area is improved. In addition, even if the mobile unit goes out of the communication range, the one in which the distance from the center of gravity of the allocated area decreases from the direction in which the network connectivity does not change or increases, so the mobile unit in the entire area is selected. The degree of development of is improving. Therefore, the present disclosure technology realizes a movement control device capable of moving so as to improve the degree of deployment of the moving body in the entire area under the constraint that the network graph is connected.

A block diagram showing an example of the configuration of the main part of the mobile coordination system according to the first embodiment. A block diagram showing an example of the configuration of a main part of a moving body according to the first embodiment. A block diagram showing an example of the configuration of a main part of the movement control device according to the first embodiment. Explanatory diagram showing that the arrangement of the moving body changes depending on how the execution vector part is given. An explanatory diagram showing the movement direction of the movement control planning unit included in the movement control device according to the first embodiment. An explanatory diagram showing the coefficients of the projection of the work execution vector onto the vector obtained by normalizing the gradient vector of algebraic connectivity. The figure which shows an example of the hardware composition of the main part of the movement control apparatus which concerns on Embodiment 1. A flowchart illustrating an example of processing of the movement control device according to the first embodiment.

The embodiment of the disclosed technology will be described with reference to the drawings shown below.

Embodiment 1.
FIG. 1 is a configuration diagram showing an example of the configuration of a main part of the mobile coordination system 1 according to the first embodiment. The mobile coordination system 1 includes a plurality of mobiles 10. The mobile body 10 is a flying object such as a drone that moves autonomously, or a self-propelled robot that moves autonomously.

As an example, the mobile body cooperation system 1 includes five

mobile bodies

10A, 10B, 10C, 10D, and 10E as a plurality of mobile bodies 10. The number of mobile bodies 10 included in the mobile body cooperation system 1 is not limited to five, and may be any number as long as it is two or more.

In the five

mobile bodies

10A, 10B, 10C, 10D, and 10E, each

mobile body

10A, 10B, 10C, 10D, and 10E moves autonomously, and a predetermined work area (hereinafter, "all areas Q"). ”) Do the work. Here, the work is a work such as defense, disaster prevention, monitoring work such as security, or work such as cleaning, which is carried out in cooperation.

FIG. 2 is a block diagram showing an example of the configuration of the main part of the mobile body 10 according to the first embodiment. The mobile body 10 includes a drive device 11, a position acquisition device 12, a communication device 13, and a movement control device 100.

The movement control device 100 outputs movement control information for moving the moving body 10. The movement control device 100 will be described in detail below.

The drive device 11 acquires the movement control information output by the movement control device 100. Based on the movement control information acquired from the movement control device 100, the drive device 11 drives a motor, an actuator, or the like (not shown) to rotate and steer a wheel, a propeller, or the like (not shown) to steer the moving body 10. Move it.

The position acquisition device 12 generates and outputs position information indicating the position of the moving body 10. Specifically, for example, the position acquisition device 12 identifies the position of the moving body 10 by using a navigation system such as Global Navigation Satellite System (hereinafter referred to as “GNSS”), and outputs the specified position as position information. The navigation system used by the position acquisition device 12 is not limited to GNSS, and may be an inertial navigation system or the like using a gyro sensor, a speed sensor, or the like.

The communication device 13 transmits / receives information between the mobile bodies 10. Specifically, the communication device 13 transmits / receives information between the mobile bodies 10 by a wireless communication method such as wireless LAN, Bluetooth (registered trademark), or infrared communication.

FIG. 1 shows a communication range C10A, C10B, C10C, C10D, C10E as a communication range in which each of the five

mobile bodies

10A, 10B, 10C, 10D, and 10E can directly transmit and receive information to and from each other. For example, the communication device 13 included in the mobile body 10A transmits / receives information to / from the

mobile bodies

10B and 10E existing in the communication range C10A which is the communication range in which the communication device 13 included in the mobile body 10A can transmit / receive information.

Further, the mobile body 10A also transmits / receives information to / from 10C and 10D, which are other mobile bodies connected to the communication network, by multi-hop communication. Specifically, for example, the communication device 13 included in the mobile body 10A has the mobile body 10D and the mobile body 10C by multi-hop communication in addition to the position information transmitted by the mobile body 10B and the position information transmitted by the mobile body 10E. Receives location information. Hereinafter, the mobiles connected to the communication network other than the first mobile are collectively referred to as "other mobiles".

FIG. 3 is a block diagram showing an example of the configuration of the main part of the movement control device 100 according to the first embodiment. The movement control device 100 includes a first moving body position acquisition unit 110, another moving body position acquisition unit 120, a first moving body position output unit 130, a work execution vector calculation unit 140, an algebraic connectivity calculation unit 150, and movement control. A planning unit 160 is provided.

The first moving body position acquisition unit 110 acquires the first moving body position information indicating the position of the first moving body which is the moving body 10. Specifically, for example, when the moving body 10A is the first moving body, the first moving body position acquisition unit 110 in the movement control device 100 included in the moving body 10A is the first moving body indicating the position of the moving body 10A. Get location information. More specifically, for example, the first moving body position acquisition unit 110 included in the movement control device 100 mounted on the moving body 10A acquires the position information output by the position acquiring device 12 mounted on the moving body 10A. Thereby, the first moving body position information indicating the position of the moving body 10A is acquired.

The other mobile position acquisition unit 120 acquires other mobile information from another mobile connected to the network, if necessary, using multi-hop communication. Specifically, for example, the other moving body position acquisition unit 120 in the moving control device 100 included in the moving body 10A has its position from the moving body 10B and the moving body 10E existing in the communication range in which the communication device 13 can transmit and receive information. Get information. In addition, the other mobile body position acquisition unit 120 acquires the position information from 10C and 10D by using multi-hop communication.

The first mobile body position output unit 130 outputs the first mobile body information. Further, when the multi-hop communication is adopted, the first mobile body position output unit 130 also outputs the acquired position information of the other mobile body.

The work execution vector calculation unit 140 is a work execution vector indicating the movement amount and the movement direction of the first moving body for the first moving body to carry out the work based on the position information of the first moving body and the position information of the other moving body. Calculate u1. The work execution vector u1 is calculated for each moving body, but here, the first moving body will be described as a representative. The work is performed together with the expansion of the moving object to the region, and the expansion can be formulated as a problem of minimizing the evaluation function J with the moving object position as a variable. This evaluation function J is generally expressed by the following mathematical formula 1.

Here, Q is the entire region, V = {1, 2, 3, ... N} is the index set of the moving body, N is the total number of moving bodies, xi is the position of the i-th moving body, and φ (q) is the region. A function representing the importance of the point q in, h () is a distance function between the points q and xi. Further, the movement control device 100 divides the entire area Q and determines the allocated area for each moving body.

The allocated area determined by the movement control device 100 is a Voronoi region divided by which of the moving bodies the other points on the whole area are close to, with the positions of the plurality of moving bodies arranged in the whole area as a mother point. A figure etc. can be considered. The domain division for obtaining the Voronoi diagram is called Voronoi division. The allocated area may be dynamically changed each time the moving body moves, or may be fixed according to the initial value of the moving body or the like. Further, the division of the entire region Q is not limited to the Voronoi division, and the entire region Q may be arbitrarily divided in advance to fix the boundary of the region.

The evaluation function J given by Equation 1 can be interpreted as follows when the distance function h is the squared distance (square of the norm of q-x ⁱ ). Simply put, the evaluation function J is determined by the distance between each moving object and the center of gravity of the allocated area. When all the moving objects are placed at the center of gravity of the allocated area, the evaluation function J takes the minimum value locally. Therefore, the evaluation function J represents the degree of expansion of the moving body in the entire region. The smaller the value of the evaluation function J, the better the degree of expansion of the moving object in the entire region.

The center of gravity of the allocated area determined by the movement control device 100 may be calculated by weighting each point on the allocated area. Φ (q) appearing in the evaluation function J is a function representing the importance of the point q in the region, and multiplying this function corresponds to weighting and calculation. This weighting has different weights depending on whether or not each point on the allocated area is a point to carry out the work, and if each of the above points is a point to carry out the work, the work has already been performed or has not been performed yet. It can have different weights depending on whether it is present or not. As an example, the weight is set to 1 at the place where the work should be performed. The weight of the part where the work is originally unnecessary is set to 0. The weight of the place where the work is completed is set to 0. As another example, in the case of work requiring cleaning twice, the weight of the uncleaned portion is 2, the weight of the portion cleaned once is 1, and the weight of the portion completed twice cleaning is 0.

The work execution vector u1 in the prior art is disclosed to be obtained by the steepest descent method. Regarding the first mobile body, the work execution vector u1 is obtained by partially differentiating the evaluation function J with respect to x1 to obtain the slope, and multiplying it by a constant.

In the present disclosed technology, the work execution vector u1'is obtained in consideration of the following factors. That is, in the present disclosure technique, the distance between the center of gravity of the moving body group and the center of gravity of the entire region Q is taken into consideration, and this squared distance is set as the element L of the new evaluation function. The work execution vector u1 according to the first embodiment is a vector obtained by adding the evaluation function J partially differentiated by x1 and multiplied by a constant k1 and the element L of the evaluation function partially differentiated by x1 and multiplied by a constant k2. Is. In other words, the disclosure technique according to the first embodiment is equivalent to considering a new evaluation function J'given by a linear combination of J'= k1 × J + k2 × L. It is conceivable that the center of gravity of the entire region Q is obtained by weighting each point in the entire region Q in the same manner as when the center of gravity of the allotted region is obtained. Further, when the center of gravity of the moving body group is obtained, it may be weighted for each moving body. For example, paying attention to the individuality of the moving body, the weight of the moving body having high work efficiency may be increased.

The effect of using the new evaluation function J'will be explained using FIGS. 4A and 4B. First, the entire region Q is divided into a mobile body 10-1 and a mobile body 10-2. The allocated area is given by dividing the entire area Q into Voronoi. In this case, since there are only two moving bodies, the Voronoi division is equivalent to dividing by the bisector between the moving bodies.

In the method using the conventional evaluation function J, the moving body does not move after the arrangement as shown in FIG. 4A. The reason will be clarified in the following explanation. The position of the moving body 10-1 coincides with the center of gravity of the allocated area, and the size of the work execution vector u1 becomes zero and does not move. Further, when the mobile body 10-2 is moved by the work execution vector u1, the communication with the mobile body 10-1 is interrupted and the network graph is not connected, so that the mobile body 10-2 cannot move in this direction. Therefore, neither the moving body 10-1 nor the moving body 10-2 moves any more. It is not preferable from the viewpoint of cleaning work or monitoring work, which is the original purpose of the moving body, that each moving body is stopped in the arrangement as shown in FIG. 4A.

On the other hand, if the work execution vector u1'is u1'= −k1 × ∂J / ∂x－k2 × ∂L / ∂x, the distance between the center of gravity of the moving body group and the center of gravity of the region is as shown in FIG. 4B. Can be shrunk.

Since the arrangement in FIG. 4B is an arrangement in which the moving objects are dispersed and expanded as compared with FIG. 4A, in fact, even if the values of the evaluation function J are compared, the arrangement in FIG. 4B may be smaller. The reason why such a phenomenon occurs is due to the limit of the steepest descent method. In the constrained minimization problem of being within the communication range, the steepest descent method may stop the solution candidates at the local minimum. It is effective to add the gradient of L to the work execution vector u1 so that the solution candidates do not stop at the local minimum as shown in FIG. 4A.

Therefore, although the explanation will be made on the premise of the work execution vector u1 based on the evaluation function J, the evaluation function J may be replaced with the evaluation function J'and the work execution vector u1 may be replaced with the work execution vector u1'.

The center of gravity of the mobile group can be the position information of the first mobile body and the position information of the mobile body existing within the communication range of the first mobile body by using the average agreement estimator even when multi-hop communication is not performed. Hereinafter, it can be obtained only from "local information"). The average consensus estimator estimates the average value over all moving objects from local information, and the center of gravity of the moving object group is the average value of the moving object positions itself.

In the above, the evaluation function J is intended to disperse and arrange the moving objects in the entire region Q, that is, to improve the degree of expansion. However, the evaluation function J is not limited to this. Any other evaluation function J may be used as long as the degree of work can be evaluated by another evaluation function J with the moving body position as a variable and the work execution vector u1 can be calculated based on the evaluation function J.

The algebraic connectivity calculation unit 150 calculates an algebraic connectivity index, which is an index indicating the connection degree of the network, and a gradient vector of the algebraic connectivity based on the first moving body information and the other moving body position information. ,Output. The algebraic connectivity calculation unit 150 can calculate the algebraic connectivity and its gradient vector only from the local information even when the multi-hop communication is not performed.

The movement control planning unit 160 calculates a vector obtained by normalizing the gradient vector of the algebraic connectivity based on the work execution vector, the algebraic connectivity, and the gradient vector of the algebraic connectivity, and transfers the vector to the normalized vector. Calculate the projection of the work execution vector. The movement control planning unit 160 determines the movement control content of the first moving body based on the composite vector obtained by synthesizing the projection multiplied by a constant and the work execution vector. Then, the movement control planning unit 160 outputs the determined movement control content as movement control information. The first mobile body moves based on the synthetic vector u shown in the following equation 2.

Here, u1 is a work execution vector, n is a gradient vector of normalized algebraic connectivity, and λ2 is an algebraic connectivity. <A, b> means the inner product of the vectors a and b.

5A and 5B are explanatory views showing the movement direction of the movement control planning unit included in the movement control device according to the first embodiment. The meaning of Equation 2 is clarified by FIGS. 5A and 5B.

Formula 2 can be explained as follows. When λ2 is larger than the threshold value ε, or when λ2 can be increased by u1, u1 is used as a control input. Since u1 is, for example, the steepest descent vector, the evaluation function J can be reduced by using this as a control input. On the other hand, when λ2 is equal to or less than the threshold value and λ2 decreases by inputting u1, “u1, n> n, which is a projection of u1 onto n, is used so that λ2 moves in the direction in which λ2 does not change. The u1- <u1, n> n, which is the projection of u1 in the direction orthogonal to n, is used as the control input. If the algebraic connectivity λ2 is larger than 0, the network graph is connected, and communication between mobiles is guaranteed.

In other words, the movement control device 100 controls the moving body in the direction of the work execution vector u1 when the network is still connected even if the moving body moves in the direction of the work execution vector u1. Further, when the mobile body moves in the direction of the work execution vector u1 and the network is not connected, the movement control device 100 determines that the center of gravity of the mobile body and the allocated area is in the direction in which the connection degree of the network does not change or increases. Select and control the one that reduces the distance of.

The following explanation will clarify how the moving body is controlled by the above control rule. Now, it is assumed that the control cycle is sufficiently short and λ2> ε in the initial state. At this time, first, u1 becomes a control input and the first moving body moves in the direction of decreasing the evaluation function J as shown in FIG. 5A. Then, from the moment when λ2 = ε, the control input is switched to u1- <u1, n> n, and while maintaining λ2 = ε, the control input moves in the direction of decreasing the evaluation function J as shown in FIG. 5B. Therefore, if the above assumption is satisfied, the evaluation function J can be minimized while maintaining the communication network by moving based on the above synthesis vector.

Such a movement method is nothing but solving the problem of minimizing the evaluation function J under the constraint of λ2 ≧ ε. Therefore, by adopting this control method, the movement control device 100 can reduce the evaluation function J while maintaining the connectivity of the network.

When the control cycle is large and the network is not connected, the movement control device 100 may devise the formula 2 and switch the control input step by step. The following is just one example.

Here, the following mathematical formula 4 or the like can be considered for α.

FIG. 6 shows an example of α.

By adopting the above method, the movement control device 100 can carry out the work that is the purpose of the mobile body under the constraint of maintaining the connectivity of the network.

7A and 7B are diagrams showing an example of the hardware configuration of the main part of the movement control device 100 according to the first embodiment. As shown in FIG. 7A, the mobile control device 100 is composed of a computer, which has a processor 501 and a memory 502. The memory 502 functions as the computer as a first mobile body position acquisition unit 110, another mobile body position acquisition unit 120, a first mobile body position output unit 130, a work execution vector calculation unit 140, and a movement control planning unit 160. The program to make it is stored. When the processor 501 reads out and executes the program stored in the memory 502, the first moving body position acquisition unit 110, the other moving body position acquisition unit 120, the first moving body position output unit 130, and the work execution vector calculation unit. 140, an algebraic connectivity calculation unit 150, and a movement control planning unit 160 are realized.

Further, as shown in FIG. 7B, the movement control device 100 may be configured by the processing circuit 503. In this case, the first moving body position acquisition unit 110, the other moving body position acquisition unit 120, the first moving body position output unit 130, the work execution vector calculation unit 140, the algebraic connectivity calculation unit 150, and the movement control planning unit 160. The function of may be realized by the processing circuit 503. Further, the mobile control device 100 may be composed of a processor 501, a memory 502, and a processing circuit 503. In this case, the first moving body position acquisition unit 110, the other moving body position acquisition unit 120, the first moving body position output unit 130, the work execution vector calculation unit 140, the algebraic connectivity calculation unit 150, and the movement control planning unit 160. Some of the functions may be realized by the processor 501 and the memory 502, and the remaining functions may be realized by the processing circuit 503.

The processor 501 uses, for example, a CPU, GPU, microprocessor, microcontroller, or DSP.

The memory 502 uses, for example, a semiconductor memory or a magnetic disk. More specifically, the memory 502 uses a RAM, ROM, flash memory, EPROM, EEPROM, SSD, HDD, or the like.

The processing circuit 503 uses, for example, an ASIC, PLD, FPGA, SoC, or a system LSI.

FIG. 8 is a flowchart illustrating an example of processing of the movement control device 100 according to the first embodiment. The movement control device 100 repeatedly executes the process of the flowchart. First, in step ST601, the first moving body position acquisition unit 110 acquires the first moving body position information. Next, in step ST602, the other moving body position acquisition unit 120 acquires the other moving body position information. Next, in step ST603, the first mobile body position output unit 130 outputs the first mobile body information. Next, in step ST604, the work execution vector calculation unit 140 outputs the work execution vector. Next, in step ST605, the algebraic connectivity calculation unit 150 outputs the algebraic connectivity and its gradient vector. Next, in step ST606, the movement control planning unit 160 outputs the movement control information.

After step ST606, the movement control device 100 ends the processing of the flowchart, returns to step ST601, and repeats the processing of the flowchart.

As described above, the movement control device 100 is a movement control device 100 mounted on each moving body 10 in the moving body cooperation system 1 in which a plurality of autonomously moving moving bodies 10 cooperate to perform work. , Other than the first moving body position acquisition unit 110 that acquires the position information of the first moving body indicating the position of the first moving body, which is the moving body 10, and the first moving body existing in the network to which the first moving body belongs. The other moving body position acquisition unit 120 that acquires position information from the other moving body, the first moving body position output unit 130, the work execution vector calculation unit 140, the algebraic connection degree calculation unit 150, and the movement control planning unit. With 160.

With this configuration, the mobile control device 100 can perform work under the constraint of maintaining network connectivity.

It should be noted that, within the scope of the present disclosure, the present disclosure allows any combination of embodiments, modifications of any component of each embodiment, or omission of any component in each embodiment. be.

The movement control device according to the present disclosure technology can be applied to a mobile coordination system.

1 mobile coordination system, 10,10-1, 10-2, 10A-10E mobile, 11 drive device, 12 position acquisition device, 13 communication device, 100 move control device, 110 first mobile body position acquisition unit, 120 Other moving body position acquisition unit, 130 first moving body position output unit, 140 work execution vector calculation unit, 150 algebraic connectivity calculation unit, 160 movement control planning unit, 501 processor, 502 memory, 503 processing circuit, Q area.

Claims

A movement control device that controls each of the moving bodies so that a plurality of autonomously moving moving bodies perform work in cooperation with each other.
All areas are divided, the allocated area is determined for each moving body, the center of gravity of the allocated area is determined, the distance between each moving body and the center of gravity of the allocated area is determined, and the allocated area is determined for each moving body. Calculate the direction to reduce the distance from the center of gravity of
The direction in which the center of gravity of the moving body group, the center of gravity of the entire region, and the distance between the center of gravity of the moving body group and the center of gravity of the entire region are determined, and the distance from the center of gravity of the entire region is reduced for each moving body is determined. Calculate and
A work execution vector calculation unit that calculates a work execution vector formed by linearly combining the two directions for each moving body, and a work execution vector calculation unit.
It is equipped with an algebraic connectivity calculation unit that calculates an algebraic connectivity index that indicates the degree of network connectivity and an algebraic connectivity gradient vector.
If the moving body moves in the direction of the work performance vector but the network is still connected, the moving body is controlled in the direction of the work performance vector, and if the moving body is moved, the network is no longer connected. A movement control device, characterized in that, among the directions in which the degree of connection does not change or increases, the one in which the distance from the center of gravity of the allocated area decreases is selected and controlled.
The allocated area is a Voronoi diagram in which the positions of a plurality of the moving bodies arranged in the entire area are used as a mother point and the other points on the entire area are divided into areas according to which of the moving bodies is close to. The movement control device according to claim 1.
The movement control device according to claim 2, wherein the allocated area is the Voronoi diagram that dynamically changes when the moving body moves.
The center of gravity of the allocated area is a center of gravity calculated by weighting each point on the allocated area.
The weighting has different weights depending on whether or not each of the points is a point where the work is performed, and when each of the points is a point where the work is performed, it depends on whether the work has already been performed or has not been performed yet. The movement control device according to claim 1, wherein the weights are different from each other.
The center of gravity of the entire region is a center of gravity calculated by weighting each point on the entire region.
The weighting has different weights depending on whether or not each of the points is a point where the work is performed, and when each of the points is a point where the work is performed, it depends on whether the work has already been performed or has not been performed yet. The movement control device according to claim 1, wherein the weights are different from each other.
The movement control device according to claim 1, wherein the work execution vector calculated for each moving body includes a vector for the purpose of reducing the evaluation function J represented by the mathematical formula 1 as a component.
The movement control according to claim 1, wherein the work execution vector calculated for each moving body includes the evaluation function J represented by the mathematical expression 1 partially differentiated with respect to the position of the moving body as a component. Device.
The movement according to claim 1, wherein the work execution vector calculated for each moving body includes, starting from the center of gravity of the entire region, a constant multiple of a vector pointing to the center of gravity of the moving body group as a component. Control device.
A movement control method for a movement control device that controls each moving body so that a plurality of autonomously moving moving bodies perform work in cooperation with each other.
All areas are divided, the allocated area is determined for each moving body, the center of gravity of the allocated area is determined, the distance between each moving body and the center of gravity of the allocated area is determined, and the allocated area is determined for each moving body. Calculate the direction to reduce the distance from the center of gravity of
The direction in which the center of gravity of the moving body group, the center of gravity of the entire region, and the distance between the center of gravity of the moving body group and the center of gravity of the entire region are determined, and the distance from the center of gravity of the entire region is reduced for each moving body is determined. Calculate and
A work execution vector formed by linearly combining the two directions is calculated for each moving body.
If the moving body moves in the direction of the work performance vector but the network is still connected, the moving body is controlled in the direction of the work performance vector, and if the moving body is moved, the network is no longer connected. A movement control method comprising selecting and controlling a direction in which the degree of connection does not change or increases and the distance from the center of gravity of the allocated area decreases.