PROBLEM TO BE SOLVED: To provide a movable body which performs a prescribed duty in a duty destination, capable of preferably avoiding various duty inhibition factors.SOLUTION: A flight control device 10 controls flight of an unmanned aircraft 1 which performs a monitoring duty in a duty destination, and comprises: a storage part 13 for storing map data 131; a machine body sensor 11 and a communication part 12 for acquiring surrounding information related to a surrounding state of the unmanned aircraft 1; and a control part 14. The control part 14 divides the map data 131 into plural cells, calculates an evaluation value related to a duty inhibition degree on each cell on the map data 131 based on the acquired surrounding information, then determines whether or not, the evaluation value of the cell including the duty destination is higher than a prescribed threshold based on the calculated evaluation value, and if it is determined that the evaluation value of the cell is higher than the threshold, changes a duty destination to a point in a cell in which the evaluation value is equal to or less than the threshold and is minimum.SELECTED DRAWING: Figure 2
【課題】任務目的地で所定の任務を行う移動体において、様々な任務阻害要因を好適に回避させる。【解決手段】飛行制御装置10は、任務目的地において監視任務を行う無人航空機1の飛行を制御するものであり、地図データ131を記憶した記憶部13と、無人航空機1の外囲状況に関する外囲情報を取得する機体センサー11及び通信部12と、制御部14とを備える。制御部14は、地図データ131を複数のセルに分割し、取得された外囲情報に基づいて地図データ131上の各セルにおける任務阻害度合いに関する評価値を算出し、算出した評価値に基づいて、任務目的地を含むセルの評価値が所定の閾値よりも高いか否かを判定し、高いと判定した場合には、評価値が閾値以下であって且つ最小となるセル内の地点に任務目的地を変更する。【選択図】図2
OPERATION CONTROL DEVICE, OPERATION CONTROL METHOD AND OPERATION CONTROL PROGRAM FOR MOVABLE BODY
移動体の動作制御装置、移動体の動作制御方法及び移動体の動作制御プログラム
2017-09-28
Patent
Electronic Resource
Japanese
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