In order to enable both positioning control and movement control of a moving body that have been adapted to the movement state of the moving body, a selection device comprises: a movement mode designation unit that designates a movement mode for a movement performed by the moving body on the basis of surroundings state information expressing the state of the surroundings of the moving body, and movement state information expressing the movement state of the moving body; and a selection unit that uses the movement mode to select a control mode from either a first control mode for performing a first control, which is a control of the position and orientation of the moving body, or a second control mode for performing a second control, which is a control of the velocity and angular velocity of the moving body.
为了实现与移动体的移动状况相适应的移动体的定位控制和移动控制两者,选择设备包括:移动模式指定单元,根据表示执行移动的移动体的周围环境的状况的周围环境状况信息和表示移动体的移动状况的移动状况信息,指定与所述移动相关的移动模式;以及选择单元,取决于所述移动模式来执行控制模式选择,所述控制模式选择是对用于执行第一控制的第一控制模式和用于执行第二控制的第二控制模式之一的选择,该第一控制是对移动体的位置和朝向的控制,该第二控制是对移动体的速度和角速度的控制。
SELECTION DEVICE, SELECTION METHOD, AND SELECTION PROGRAM
选择设备、选择方法和选择程序
2021-03-09
Patent
Electronic Resource
Chinese
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