Information processing apparatus and information processing method

An information processing method, comprising:

• acquiring position information of a mobile body;
• acquiring posture information of the mobile body;
• generating a target trajectory including a plurality of waypoints each including waypoint information including a position command value and a posture command value for the mobile body;
• extracting, from the plurality of waypoints, waypoints existing within a threshold distance from the mobile body using the position information and the position command value;
• selecting, from the extracted waypoints, a waypoint having a smallest difference between the posture command value of the waypoint and the posture information;
• setting the waypoint as a reference point;
• and
• controlling movement of the mobile body using the waypoint information of the waypoint set as the reference point.

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:

• acquiring position information of a mobile body;
• acquiring posture information of the mobile body;
• generating a target trajectory including a plurality of waypoints each including waypoint information including a position command value and a posture command value for the mobile body;
• extracting, from the plurality of waypoints, waypoints existing within a threshold distance from the mobile body using the position information and the position command value;
• selecting, from the extracted waypoints, a waypoint having a smallest difference between the posture command value of the waypoint and the posture information;
• setting the waypoint as a reference point;
• and
• controlling movement of the mobile body using the waypoint information of the waypoint set as the reference point.