The invention provides a moving body control device, a moving body control method, and a control program. The moving body control device includes an attitude angle detection section configured to detect ah attitude angle of an inverted moving body, a command value generation section configured to generate an attitude angular speed command value of the inverted moving body according to the attitude angle detected by the attitude angle detection section, a control section configured to control drive of the inverted moving body according to the attitude angular speed command value generated by the command value generation section, a determination section configured to make a determination whether or not the inverted moving body travels in a constant direction for a prescribed time or longer, and an acceleration-deceleration command section configured to increase or decrease the attitude angular speed command value generated by the command value generation section when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer.
Moving body control device, moving body control method, and control program
2015-12-02
Patent
Elektronische Ressource
Englisch
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