Moving object control system, control method therefor, and recording medium

A control method for a moving object control system that controls an operation of a moving object including a drive wheel and a driven wheel, the control method comprising:

• generating a trajectory along which the moving object travels based on a target position and a plurality of possible trajectories that are generatable from velocities and angular velocities of the moving object that satisfy a predetermined constraint condition;
• and
• controlling traveling of the moving object in accordance with the generated trajectory,
• wherein the predetermined constraint condition includes a constraint on a velocity and an angular velocity of the moving object determined from a travelable velocity of the moving object, a constraint on a velocity and an angular velocity of the moving object determined from an acceleration at which the moving object is capable of accelerating, and a constraint on a velocity and an angular velocity of the moving object depending on an angle of the driven wheel.

A non-transitory recording medium storing a program for causing a computer to function as a moving object control system that controls an operation of a moving object including a drive wheel and a driven wheel, comprising:

• generating a trajectory along which the moving object travels based on a target position and a plurality of possible trajectories that are generatable from velocities and angular velocities of the moving object that satisfy a predetermined constraint condition;
• and
• controlling traveling of the moving object in accordance with the generated trajectory,
• wherein the predetermined constraint condition includes a constraint on a velocity and an angular velocity of the moving object determined from a travelable velocity of the moving object, a constraint on a velocity and an angular velocity of the moving object determined from an acceleration at which the moving object is capable of accelerating, and a constraint on a velocity and an angular velocity of the moving object depending on an angle of the driven wheel.