Moving control method, moving control device, moving control system, program, and storage medium for multi-vehicle
AssigneesMitsubishi Heavy Industries, Ltd., National University Corporation Tokai National Higher Education and Research System
InventorsYasuo Fujishima, Kazushige TAKAKI, Shunichi AZUMA
Life of this patent
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Abstract
A movement control method for multi-vehicle for moving multiple vehicles to target positions individually set for the vehicles includes the steps of: acquiring positions of the vehicles; determining control input for moving the vehicles from the acquired positions to positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition; and updating the first distance to a shorter distance when a distance between the position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance.
Claims20
A movement control method for multi-vehicle for moving multiple vehicles to target positions individually set for the vehicles, the movement control method comprising:
- acquiring positions of the vehicles;
- determining control input for moving the vehicles from the acquired positions to positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition;
- and
- updating the first distance to a shorter distance when a distance between the position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance,
- wherein the updating the first distance to a shorter distance is repeatedly performed until the first distance reaches zero such that the vehicles are made closer to the respective target positions in a coordinated way.
(canceled)
A movement control device for moving at least one of multiple vehicles to target positions individually set for the vehicles, the movement control device comprising:
- an acquisition unit configured to acquire a position of each of the vehicles;
- and
- a control unit configured to determine control input for moving the vehicles from the acquired positions to positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition, and update the first distance to a shorter distance when a distance between the position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance,
- wherein the control unit is configured to repeatedly update the first distance to a shorter distance until the first distance reaches zero such that the vehicles are made closer to the respective target positions in a coordinated way.
A movement control system, comprising:
- multiple vehicles;
- and
- a movement control device that moves the vehicles to target positions individually set for the vehicles, wherein
- the movement control device includes
- an acquisition unit configured to acquire positions of the vehicles;
- and
- a control unit configured to transmit, to each of the vehicles, control input for moving the vehicles from the acquired positions to positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition, and update the first distance to a shorter distance when a distance between the position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance,
- wherein the control unit is configured to repeatedly update the first distance to a shorter distance until the first distance reaches zero such that the vehicles are made closer to the respective target positions in a coordinated way.
A movement control system, comprising:
- multiple vehicles;
- and
- a movement control device provided to each of the vehicles, wherein
- the movement control device includes
- an acquisition unit configured to acquire positions of the vehicles;
- and
- a control unit configured to determine control input for moving the vehicles from the acquired positions to positions away from target positions thereof by a first distance or more while the vehicles satisfy a predetermined condition, apply control input for a vehicle provided with the movement control device to the vehicle provided with the movement control device, and update the first distance to a shorter distance when a distance between the position of each of the vehicles and the target position becomes equal to or more than the first distance and within an updating distance,
- wherein the control unit is configured to repeatedly update the first distance to a shorter distance until the first distance reaches zero such that the vehicles are made closer to the respective target positions in a coordinated way.
(canceled)
A computer-readable storage medium having stored thereon a program for moving at least one of multiple vehicles to target positions individually set for the vehicles, the program causing a computer to execute:
- acquiring positions of the vehicles;
- determining control input for moving the vehicles from the acquired positions to positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition;
- and
- updating the first distance to a shorter distance when a distance between the position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance,
- wherein the updating the first distance to a shorter distance is repeatedly performed until the first distance reaches zero such that the vehicles are made closer to the respective target positions in a coordinated way.
Dependencies are inferred from the claim text.