To provide a mobile body control method capable of appropriately approaching a target position, a mobile body, and a program.SOLUTION: A method for controlling a mobile body 10 controls a mobile body which automatically moves includes: a step of moving the mobile body along a first path R1; a step of causing a sensor provided in the mobile body to detect the position and posture of a target object P while the mobile body moves along the first path; a step of setting, based on the position and posture of the target object, a second path R2 to target position serving as predetermined position and posture with respect to the target object; a step of switching from the first path to the second path to move the mobile body along the second path; a step of performing, based on a rating function such that rating becomes higher with a decrease in deviation between the position of the target object and the position of the mobile body, optimization calculation to set a third path R3; and a step of switching from the second path to the third path to move the mobile body to the third path.SELECTED DRAWING: Figure 1

    【課題】目標位置まで適切にアプローチ可能な移動体の制御方法、移動体及びプログラムを提供する。【解決手段】移動体10の制御方法は、自動で移動する移動体の制御方法であって、移動体を第1パスR1に沿って移動させるステップと、移動体が第1パスに沿って移動中に、移動体に設けられたセンサに目標物Pの位置及び姿勢を検出させるステップと、目標物の位置及び姿勢に基づき、目標物に対して所定の位置及び姿勢となる目標位置までの第2パスR2を設定するステップと、第1パスから第2パスに切り替えて、移動体を第2パスに沿って移動させるステップと、目標物の位置と移動体の位置との偏差が小さくなるほど評価が高くなる評価関数に基づき最適化計算を行い、第3パスR3を設定するステップと、第2パスから第3パスに切り替えて、移動体を第3パスに沿って移動させるステップと、を含む。【選択図】図1


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    Title :

    MOBILE BODY CONTROL METHOD, MOBILE BODY, AND PROGRAM


    Additional title:

    移動体の制御方法、移動体及びプログラム


    Contributors:

    Publication date :

    2022-10-20


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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