Back to results
US 12,449,812 B2Granted
Moving-body path calculation device
AssigneeNEC Corporation
InventorsNatsuhiko Sato, Shinya Yasuda
Life of this patent
Estimating the term…
Abstract
To calculate a path of movement of a moving body, a moving-body path calculation device includes: a deviation obtaining means that obtains a deviation of the moving body in a direction perpendicular to an ideal route; and a path calculating means that calculates the path of the movement of the moving body on a basis of a composite parameter including a parameter indicating the deviation of the moving body which deviation has been obtained by the deviation obtaining means.
Claims6
A moving-body path calculation device comprising at least one processor,
- the at least one processor being configured to execute:
- a process of obtaining a deviation of a moving body in a direction perpendicular to an ideal route;
- and
- a process of calculating a path of movement of the moving body on a basis of a composite parameter including a parameter indicating the deviation of the moving body having been obtained, wherein
- the composite parameter includes
- a parameter indicating a period of time required for the moving body to return to the ideal route,
- a parameter indicating the deviation of the moving body having been obtained, and
- a parameter indicating an angle between the ideal route and a moving direction of the moving body,
- in the process of calculating the path of the movement of the moving body, the at least one processor calculates, on a basis of ∂I/∂ai=0 and ∂I/∂T=0, a path with which I takes a minimal value by substituting y of Formula 1 below with a polynomial of Formula 2 below, where T is the parameter indicating the period of time required for the moving body to return to the ideal route, y is the parameter indicating the deviation of the moving body having been obtained, θ is the parameter indicating the angle between the ideal route and the moving direction of the moving body, ai is a coefficient parameter, n is a positive integer, and α is a constant:
- I=∫y2+α sin2θdt (Formula 1)
- y(t)=Σi=0naiti (Formula 2).
8 more elements
A moving body comprising at least one processor,
- the at least one processor being configured to execute:
- a process of obtaining a deviation of a moving body in a direction perpendicular to an ideal route;
- and
- a process of calculating a path of movement of the moving body on a basis of a composite parameter including a parameter indicating the deviation of the moving body having been obtained, wherein
- the composite parameter includes
- a parameter indicating a period of time required for the moving body to return to the ideal route,
- a parameter indicating the deviation of the moving body having been obtained, and
- a parameter indicating an angle between the ideal route and a moving direction of the moving body,
- in the process of calculating the path of the movement of the moving body, the at least one processor calculates, on a basis of ∂I/∂ai=0 and ∂I/∂T=0, a path with which I takes a minimal value by substituting y of Formula 1 below with a polynomial of Formula 2 below, where T is the parameter indicating the period of time required for the moving body to return to the ideal route, y is the parameter indicating the deviation of the moving body having been obtained, θ is the parameter indicating the angle between the ideal route and the moving direction of the moving body, ai is a coefficient parameter, n is a positive integer, and α is a constant:
- I=∫y2+α sin2θdt (Formula 1)
- y(t)=Σi=0naiti (Formula 2).
8 more elements
A method comprising:
- obtaining a deviation of a moving body in a direction perpendicular to an ideal route;
- and
- calculating a path of movement of the moving body on a basis of a composite parameter including a parameter indicating the deviation of the moving body having been obtained, wherein
- the composite parameter includes
- a parameter indicating a period of time required for the moving body to return to the ideal route,
- a parameter indicating the deviation of the moving body having been obtained, and
- a parameter indicating an angle between the ideal route and a moving direction of the moving body,
- in calculating the path of the movement of the moving body, the method calculates, on a basis of ∂I/∂ai=0 and ∂I/∂T=0, a path with which I takes a minimal value by substituting y of Formula 1 below with a polynomial of Formula 2 below, where T is the parameter indicating the period of time required for the moving body to return to the ideal route, y is the parameter indicating the deviation of the moving body having been obtained, θ is the parameter indicating the angle between the ideal route and the moving direction of the moving body, ai is a coefficient parameter, n is a positive integer, and α is a constant:
- I=∫y2+α sin2θdt (Formula 1)
- y(t)=Σi=0naiti (Formula 2).
7 more elements
Dependencies are inferred from the claim text.