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AssigneeMitsubishi Heavy Industries, Ltd.
InventorsTomoya Okuda, Mitsuhisa Kawabe, Sho Onodera
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This movement control device controls each wheel of a vehicle including a first wheel capable of driving and capable of steering, a second wheel capable of steering, and a third wheel capable of steering. The movement control device comprises: a rotation signal generation unit that generates a rotation signal for controlling each wheel such that a traveling direction of the vehicle is changed with one of the second wheel and the third wheel as a center of rotation when viewed from a vertical direction; a translation signal generation unit that generates a translation signal for controlling each wheel such that, when changing the traveling direction of the vehicle, one of the second wheel and the third wheel that is the center of rotation is moved in one direction that crosses the traveling direction; a signal combining unit that generates a wheel control signal in which the rotation signal and the translation signal are combined; and a wheel control unit that controls each wheel on the basis of the wheel control signal.
A movement control device that controls each wheel of a moving body having a first wheel that is drivable and steerable, a second wheel that is steerable, and a third wheel that is steerable, the movement control device comprising:
A movement control method of controlling each wheel of a moving body having a first wheel that is drivable and steerable, a second wheel that is steerable, and a third wheel that is steerable, the movement control method comprising:
A non-transitory computer-readable storage medium storing a program causing a computer of a movement control device that controls each wheel of a moving body having a first wheel that is drivable and steerable, a second wheel that is steerable, and a third wheel that is steerable, to execute:
Dependencies are inferred from the claim text.