To provide a movement control method for coordinating the movement of a plurality of vehicles while suitably maintaining the observation of a search object by a vehicle.SOLUTION: Provided is a movement control method for a plurality of vehicles while observing at least one search object by a plurality of vehicles B1, B2, B3, the method including the steps of: acquiring the position and attitude of each of the plurality of vehicles; specifying the position of a search object; a step for calculating a movement trajectory for one look-ahead step of the plurality of vehicles on the basis of the position and attitude of each of the plurality of vehicles and the position of the search object; determining whether or not the observation condition of the search object is met when the plurality of vehicles have moved along the calculated movement trajectory; returning to the step for calculating the movement trajectory when the observation condition is not met; and determining on the basis of the movement trajectory a vehicle drive condition for a unit time after the current point of time when a movement trajectory was calculated that meets the observation condition and controlling the vehicle movement.SELECTED DRAWING: Figure 1

    【課題】ビークルによる捜索対象の観測を好適に維持しつつ、複数のビークルの移動を協調させる移動制御方法を提供する。【解決手段】複数のビークルB1、B2、B3により少なくとも1つの捜索対象を観測しつつ、複数のビークルの移動制御方法であって、複数のビークルの各々の位置及び姿勢を取得するステップと、捜索対象の位置を特定するステップと、複数のビークルの各々の位置及び姿勢と、捜索対象の位置とに基づいて、複数のビークルの先読ステップ分の移動軌跡を算出するステップと、算出した移動軌跡で複数のビークルが移動した場合、捜索対象の観測条件を満たしているか判定するステップと、観測条件を満たしていない場合、移動軌跡を算出するステップに戻るステップと、観測条件を満たしている移動軌跡を算出した場合、移動軌跡に基づいて、現時点から単位時間後までのビークルの駆動条件を決定し、ビークルの移動を制御するステップと、を含む。【選択図】図1


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    Title :

    MULTIPLE VEHICLE MOVEMENT CONTROL METHOD, MOVEMENT CONTROLLER, MOVEMENT CONTROL SYSTEM, PROGRAM, AND RECORDING MEDIUM


    Additional title:

    複数のビークルの移動制御方法、移動制御装置、移動制御システム、プログラム及び記録媒体


    Contributors:

    Publication date :

    2021-05-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge



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