The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.


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    Title :

    CONTROL DEVICE FOR MOBILE BODY


    Contributors:

    Publication date :

    2021-07-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62K Fahrräder , CYCLES / B62J Fahrrad- oder Motorradsättel oder -sitze , CYCLE SADDLES OR SEATS



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