To provide a movement controller, movement control system, movement control method, and program capable of smoothly shifting, even in a narrow passage, an advancing direction of a moving body, which includes wheels constituted more simply than ever.SOLUTION: A movement controller controls wheels of a moving body including: a first wheel capable of being driven and steered; a second wheel capable of being steered; and a third wheel capable of being steered. The movement controller includes: a rotation signal generation unit that generates a rotation signal with which each of the wheels is controlled so that an advancing direction of a moving body is shifted around one of the second and third wheels serving as a center of rotation when seen in a vertical direction; a translation signal generation unit that generates a translation signal with which each of the wheels is controlled so that, when the advancing direction of the moving body is shifted, one of the second and third wheels serving as the center of rotation is moved in one direction intersecting the advancing direction; a signal synthesis unit that generates a wheel control signal resulting from synthesis of the rotation signal and translation signal; and a wheel control unit that controls each of the wheels on the basis of the wheel control signal.SELECTED DRAWING: Figure 4
【課題】より簡易な構成とされた車輪を備える移動体の進行方向を狭隘な通路中でも円滑に転向させることができる移動制御装置、移動制御システム、移動制御方法、及びプログラムを提供する。【解決手段】移動制御装置は、駆動可能かつ操舵可能な第一車輪、操舵可能な第二車輪、及び、操舵可能な第三車輪を有する移動体の各車輪を制御する移動制御装置であって、鉛直方向から見て第二車輪及び第三車輪の一方を回転中心として移動体の進行方向が転向するように、各車輪を制御する回転信号を生成する回転信号生成部と、移動体の進行方向を転向させる際に、回転中心となる第二車輪と第三車輪の一方を進行方向に交差する一方向に移動させるように、各車輪を制御する並進信号を生成する並進信号生成部と、回転信号と並進信号とを合成した車輪制御信号を生成する信号合成部と、車輪制御信号に基づいて、各車輪を制御する車輪制御部と、を備える。【選択図】図4
MOVEMENT CONTROLLER, MOVEMENT CONTROL SYSTEM, MOVEMENT CONTROL METHOD, AND PROGRAM
移動制御装置、移動制御システム、移動制御方法、及びプログラム
2024-03-22
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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