Data processing device, mobile body system, mobile body, data processing method, and storage medium

A mobile body configured to move by autonomously traveling over a traveling surface,

• the mobile body configured to:
• after completion of a first movement from a first position to a transit position, calculate a first error occurring in the first movement, the first movement including a translational motion in which an orientation of the mobile body is maintained and a turning motion in which the orientation changes, wherein the first error includes a first translational error caused by the translational motion of the first movement and a first turning error caused by the turning motion of the first movement;
• correct, by using the first translational error and the first turning error, a movement amount in a second movement from the transit position to a second position, the second movement including another translational motion and another turning motion;
• predict, based on the first error, a second error occurring in the second movement, wherein the second error includes a second translational error predicted to occur in the translational motion of the second movement based on the first translational error, and a second turning error predicted to occur in the turning motion of the second movement based on the first turning error;
• and
• further correct the corrected movement amount in the second movement by using the second translational error and the second turning error.

A data processing method to process data related to a mobile body, the mobile body moving by autonomously traveling over a traveling surface, the data processing method comprising:

• after completion of a first movement from a first position to a transit position, calculating a first error occurring in the first movement, the first movement including a translational motion in which an orientation of the mobile body is maintained and a turning motion in which the orientation changes, wherein the first error includes a first translational error caused by the translational motion of the first movement and a first turning error caused by the turning motion of the first movement;
• correcting, by using the first translational error and the first turning error, a movement amount of the mobile body in a second movement from the transit position to a second position, the second movement including another translational motion and another turning motion;
• predicting, based on the first error, a second error occurring in the second movement, wherein the second error includes a second translational error predicted to occur in the translational motion of the second movement based on the first translational error, and a second turning error predicted to occur in the turning motion of the second movement based on the first turning error;
• and
• further correcting the corrected movement amount of the mobile body in the second movement by using the second translational error and the second turning error.

A non-transitory computer-readable storage medium configured to store a program,

• the program, when executed by a computer, causing the computer to process data related to a mobile body, the mobile body moving by autonomously traveling over a traveling surface,
• the program further causing the computer to:
• after completion of a first movement from a first position to a transit position, calculate a first error occurring in the first movement, the first movement including a translational motion in which an orientation of the mobile body is maintained and a turning motion in which the orientation changes, wherein the first error includes a first translational error caused by the translational motion of the first movement and a first turning error caused by the turning motion of the first movement;
• correct, by using the first translational error and the first turning error, a movement amount of the mobile body in a second movement from the transit position to a second position, the second movement including another translational motion and another turning motion;
• predict, based on the first error, a second error occurring in the second movement, wherein the second error includes a second translational error predicted to occur in the translational motion of the second movement based on the first translational error, and a second turning error predicted to occur in the turning motion of the second movement based on the first turning error;
• and
• further correct the corrected movement amount of the mobile body in the second movement by using the second translational error and the second turning error.