US 11,892,852 B2
Information processing apparatus and information processing method
Yudai Yuguchi, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/637,009
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Aug. 11, 2020, PCT No. PCT/JP2020/030581
§ 371(c)(1), (2) Date Feb. 21, 2022,
PCT Pub. No. WO2021/039378, PCT Pub. Date Mar. 4, 2021.
Claims priority of application No. 2019-156266 (JP), filed on Aug. 29, 2019.
Prior Publication US 2022/0357749 A1, Nov. 10, 2022
Int. Cl. G05D 1/02 (2020.01)
CPC G05D 1/0223 (2013.01) [G05D 2201/0217 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An information processing apparatus, comprising:
a position information acquisition unit configured to acquire position information of a mobile body;
a posture information acquisition unit configured to acquire posture information of the mobile body;
a generation unit configured to generate a target trajectory including a plurality of waypoints each including waypoint information including a position command value and a posture command value for the mobile body; and
a mobile body controller configured to
extract, from the plurality of waypoints, waypoints existing within a threshold distance from the mobile body using the position information and the position command value,
select, from the extracted waypoints, a waypoint having a smallest difference between the posture command value of the waypoint and the posture information,
set the waypoint as a reference point, and
control movement of the mobile body using the waypoint information of the waypoint set as the reference point.