Mobile object control system, mobile object control device, and mobile object control method

A mobile object control device that controls a robot including a floating device having a smaller density than a body connected to a robot body performing an operation under water and including a drive unit that is able to change the center of buoyancy of the floating device with respect to the robot body, the mobile object control device comprising a processor,

• wherein the processor executes a program to perform:
• acquiring a position of the center of buoyancy of the robot body and the floating device combined, a position of the center of gravity of the robot body and the floating device combined, an angle formed by the position of the center of buoyancy and the position of the center of gravity, and a posture angle of the robot body;
• setting at least one of a target value of an angle formed by the position of the center of gravity from a target posture of the whole robot and a target value of an angle formed by the position of the center of buoyancy from the target posture of the whole robot;
• and
• calculating a control value for the drive unit for change in the center of buoyancy of the floating device using a deviation between the position of the center of buoyancy and the position of the center of gravity, a target value of the deviation between the position of the center of buoyancy and the position of the center of gravity, a center-of-gravity sensitivity matrix indicating change of the position of the center of gravity with respect to the control value for the drive unit, and a center-of-buoyancy sensitivity matrix indicating change of the position of the center of buoyancy with respect to the control value for the drive unit.

A mobile object control method of controlling a robot including a floating device having a smaller density than a body connected to a robot body performing an operation under water and including a drive unit that is able to change the center of buoyancy of the floating device with respect to the robot body, the mobile object control method comprising:

• acquiring a position of the center of buoyancy of the robot body and the floating device combined, a position of the center of gravity of the robot body and the floating device combined, an angle formed by the position of the center of buoyancy and the position of the center of gravity, and a posture angle of the robot body;
• setting at least one of a target value of an angle formed by the position of the center of gravity from a target posture of the whole robot and a target value of an angle formed by the position of the center of buoyancy from the target posture of the whole robot;
• and
• calculating a control value for the drive unit for change in the center of buoyancy of the floating device using a deviation between the position of the center of buoyancy and the position of the center of gravity, a target value of the deviation between the position of the center of buoyancy and the position of the center of gravity, a center-of-gravity sensitivity matrix indicating change of the position of the center of gravity with respect to the control value for the drive unit, and a center-of-buoyancy sensitivity matrix indicating change of the position of the center of buoyancy with respect to the control value for the drive unit.