To appropriately generate a course of a mobile without using a high-precision map.SOLUTION: A mobile control system acquires a picked-up image, detects an obstacle included in the picked-up image, divides regions around a mobile, and generates an occupation map indicating the occupation of the obstacle which is detected for each divided region. The mobile control system generates a macro course, avoiding the detected obstacle, from a current location to a target location based on a first cost in which a cost becomes higher as a distance from the current location in the occupation map is longer, a second cost in which a cost becomes higher as a distance from the target location in the occupation map is longer, and a third cost in which a cost becomes higher as a distance from a past course in the occupation map is longer.SELECTED DRAWING: Figure 7

    【課題】本発明は、高精度地図を用いることなく移動体の経路を好適に生成することにある。【解決手段】本移動体制御システムは、撮像画像を取得し、撮像画像に含まれる障害物を検出し、移動体の周辺の領域を分割し、分割した領域ごとに検出された障害物の占有を示す占有地図を生成する。また、本移動体制御システムは、占有地図において現在位置からの距離が遠いほどコストが高い第1コストと、占有地図において目標位置からの距離が遠いほどコストが高い第2コストと、占有地図において過去の経路からの距離が遠いほどコストが高い第3コストとに基づいて、検出した障害物を回避する現在位置から目標位置までの大域経路を生成する。【選択図】図7


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    Title :

    MOBILE CONTROL SYSTEM, CONTROL METHOD THEREFOR, PROGRAM, AND MOBILE


    Additional title:

    移動体制御システム、その制御方法、プログラム、及び移動体


    Contributors:

    Publication date :

    2024-03-18


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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