Control device, control method, and mobile body

A control method, comprising:

• estimating a position of a mobile body;
• generating obstacle position information including a position of an obstacle in surroundings of the mobile body;
• sensing a surface of the obstacle;
• recording a surface-sensed area of the obstacle based on the position of the mobile body, the obstacle position information, and a surface sensing possible range of the sensing, wherein
• the surface of the obstacle within the surface sensing possible range is recorded as the surface-sensed area of the obstacle;
• setting an unsensed area in the surroundings based on the surface-sensed area of the obstacle and the obstacle position information;
• wherein the unsensed area is an area in the surroundings where sensing of the obstacle is not completed;
• setting a plurality of waypoints obtained by dividing the unsensed area;
• setting priorities to the plurality of waypoints;
• and
• planning a route, via the plurality of waypoints, based on the set priorities.

A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a computer, cause the computer to execute operations, the operations comprising:

• estimating a position of a mobile body;
• generating obstacle position information including a position of an obstacle in surroundings of the mobile body;
• sensing a surface of the obstacle;
• recording a surface-sensed area of the obstacle based on the position of the mobile body, the obstacle position information, and a surface sensing possible range of the sensing,
• wherein the surface of the obstacle within the surface sensing possible range is recorded as the surface-sensed area;
• setting an unsensed area in the surroundings based on the surface-sensed area of the obstacle and the obstacle position information;
• wherein the unsensed area is an area in the surroundings where sensing of the obstacle is not completed;
• setting a plurality of waypoints obtained by dividing the unsensed area;
• setting priorities to the plurality of waypoints;
• and
• planning a route, via the plurality of waypoints, based on the set priorities.

A mobile body, comprising:

• an own position estimation unit configured to estimate a position of the mobile body;
• an obstacle position information generation unit configured to generate an obstacle position information including a position of an obstacle in surroundings of the mobile body;
• a surface sensing unit configured to sense a surface of the obstacle;
• a surface-sensed area recording unit configured to record a surface-sensed area of the obstacle based on the position of the mobile body, the obstacle position information, and a surface sensing possible range of the surface sensing unit,
• wherein the surface of the obstacle within the surface sensing possible range of the surface sensing unit is recorded as the surface-sensed area of the obstacle;
• a route planning unit configured to plan a route based on the surface-sensed area of the obstacle, wherein
• the route planning unit includes a priority setting unit,
• the priority setting unit is configured to:
• set an unsensed area in the surroundings based on the surface-sensed area of the obstacle and the obstacle position information, wherein
• the unsensed area is an area in the surroundings where surface sensing of the obstacle is not completed;
• set a plurality of waypoints obtained based on a division of the unsensed area;
• and
• set priorities to the plurality of waypoints, and
• the route, via the plurality of waypoints, is planned based on the set priorities;
• an action plan generation unit configured to generate an action plan based on the planned route;
• and
• a control unit configured to control an operation of the mobile body based on the generated action plan.