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US 12,699,400 B2Granted
Information processing apparatus, information processing method, and program for performing route planning to satisfy a contraint based on a task complexity tolerance map
AssigneeSony Group Corporation
InventorYusuke Kudo
Life of this patent
Estimating the term…
Abstract
An information processing apparatus includes a map generation unit and a route planning unit. The map generation unit calculates allowable complexity of a task as task complexity tolerance and generates a task complexity tolerance map indicating a distribution of the task complexity tolerance. The route planning unit performs route planning for a mobile body (MB) to satisfy constraints based on the task complexity tolerance map.
Claims20
An information processing apparatus comprising:
- processing circuitry configured to
- acquire a monitoring result of a communication state of each of a plurality of mobile bodies;
- calculate allowable complexity of a conveyance task as task complexity tolerance at times and points of an operation space based on the monitoring result, the task complexity tolerance being a numerical value;
- generate a task complexity tolerance map indicating a distribution of the task complexity tolerance, the task complexity tolerance map including a first level indicating a tolerance at which the plurality of mobile bodies are permitted to cooperate for the conveyance task, a second level indicating a tolerance at which the plurality of mobile bodies are prohibited from cooperating and permitted to pass each other, and a third level indicating a tolerance at which only one mobile body is permitted to be present in an area of the operation space and the plurality of mobile bodies are prohibited from passing each other;
- perform route planning for the plurality of mobile bodies to satisfy the first level, the second level, and the third level as a constraint based on the task complexity tolerance map;
- generate planned routes for the plurality of mobile bodies based on the route planning;
- and
- control the plurality of mobile bodies to travel along the planned routes while satisfying the constraint.
5 more elements
An information processing method executed by a computer, the information processing method comprising:
- acquiring a monitoring result of a communication state of each of a plurality of mobile bodies;
- calculating allowable complexity of a conveyance task as task complexity tolerance at times and points of an operation space based on the monitoring result, the task complexity tolerance being a numerical value;
- generating a task complexity tolerance map indicating a distribution of the task complexity tolerance, the task complexity tolerance map including a first level indicating a tolerance at which the plurality of mobile bodies are permitted to cooperate for the conveyance task, a second level indicating a tolerance at which the plurality of mobile bodies are prohibited from cooperating and permitted to pass each other, and a third level indicating a tolerance at which only one mobile body is permitted to be present in an area of the operation space and the plurality of mobile bodies are prohibited from passing each other;
- performing route planning for the plurality of mobile bodies to satisfy the first level, the second level, and the third level as a constraint based on the task complexity tolerance map;
- generating planned routes for the plurality of mobile bodies based on the route planning;
- and
- controlling the plurality of mobile bodies to travel along the planned routes while satisfying the constraint.
4 more elements
A non-transitory computer readable medium storing a program which when executed causes a computer to perform a method, the method comprising:
- acquiring a monitoring result of a communication state of each of a plurality of mobile bodies;
- calculating allowable complexity of a conveyance task as task complexity tolerance at times and points of an operation space based on the monitoring result, the task complexity tolerance being a numerical value;
- generating a task complexity tolerance map indicating a distribution of the task complexity tolerance, the task complexity tolerance map including a first level indicating a tolerance at which the plurality of mobile bodies are permitted to cooperate for the conveyance task, a second level indicating a tolerance at which the plurality of mobile bodies are prohibited from cooperating and permitted to pass each other, and a third level indicating a tolerance at which only one mobile body is permitted to be present in an area of the operation space and the plurality of mobile bodies are prohibited from passing each other;
- performing route planning for the plurality of mobile bodies to satisfy the first level, the second level, and the third level as a constraint based on the task complexity tolerance map;
- generating planned routes for the plurality of mobile bodies based on the route planning;
- and
- controlling the plurality of mobile bodies to travel along the planned routes while satisfying the constraint.
4 more elements
Dependencies are inferred from the claim text.