Information processing apparatus, information processing method, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorYoshihisa Sato
Life of this patent
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Abstract
An information processing apparatus including an obstacle information acquisition unit configured to acquire obstacle information relating to an obstacle; a path information acquisition unit configured to acquire path information for a path on which a movable apparatus will move with respect to a plurality of movable apparatuses; an environment information acquisition unit configured to acquire environment information relating to a range in which the obstacle can be moved in an environment in which the movable apparatus is moving; and an obstacle movement destination determining unit configured to determine a movement destination for the obstacle based on the environment information and at least a movement distance for the obstacle.
Claims9
An information processing apparatus comprising at least one processor or circuit configured to function as:
- an obstacle information acquisition unit configured to acquire obstacle information relating to an obstacle;
- a path information acquisition unit configured to acquire path information for a path on which a movable apparatus will move with respect to a plurality of movable apparatuses;
- an environment information acquisition unit configured to acquire environment information relating to a range in which the obstacle can be moved in an environment in which the movable apparatus is moving;
- and
- an obstacle movement destination determining unit configured to determine (a) a first score for movement destination candidate points for the obstacle based on a movement distance for the obstacle, (b) a second score for the movement destination candidate points based on the path information of the plurality of movable apparatuses and the environment information, the second score being determined according to an overlap range for a region through which the movable apparatus will pass and a region taken up by the obstacle in a movement destination candidate point, and (c) a movement destination for the obstacle based on the determined first score and the determined second score,
- wherein one of the plurality of movable apparatuses moves the obstacle to the movement destination.
An information processing method comprising:
- acquiring obstacle information relating to an obstacle;
- acquiring path information for a path on which a movable apparatus will move with respect to a plurality of movable apparatuses;
- acquiring environment information relating to a range in which the obstacle can be moved in an environment in which the movable apparatus is moving;
- and
- determining (a) a first score for movement destination candidate points for the obstacle based on a movement distance for the obstacle, (b) a second score for the movement destination candidate points based on the path information of the plurality of movable apparatuses and the environment information, the second score being determined according to an overlap range for a region through which the movable apparatus will pass and a region taken up by the obstacle in a movement destination candidate point, and (c) a movement destination for the obstacle based on the determined first score and the determined second score,
- wherein one of the plurality of movable apparatuses moves the obstacle to the movement destination.
A non-transitory computer-readable storage medium storing a computer program including instructions for executing following processes:
- acquiring obstacle information relating to an obstacle;
- acquiring path information for a path on which a movable apparatus will move with respect to a plurality of movable apparatuses;
- acquiring environment information relating to a range in which the obstacle can be moved in an environment in which the movable apparatus is moving;
- and
- determining (a) a first score for movement destination candidate points for the obstacle based on a movement distance for the obstacle, (b) a second score for the movement destination candidate points based on the path information of the plurality of movable apparatuses and the environment information, the second score being determined according to an overlap range for a region through which the movable apparatus will pass and a region taken up by the obstacle in a movement destination candidate point, and (c) a movement destination for the obstacle based on the determined first score and the determined second score,
- wherein one of the plurality of movable apparatuses moves the obstacle to the movement destination.
Dependencies are inferred from the claim text.