US 12,332,647 B2
Mobile body control apparatus, mobile body control method, mobile body control system, and non-transitory computer-readable storage medium storing mobile body control program
Shinya Yasuda, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 18/022,827
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Sep. 30, 2020, PCT No. PCT/JP2020/037196
§ 371(c)(1), (2) Date Feb. 23, 2023,
PCT Pub. No. WO2022/070324, PCT Pub. Date Apr. 7, 2022.
Prior Publication US 2023/0305561 A1, Sep. 28, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0212 (2013.01) 9 Claims
OG exemplary drawing
 
1. A mobile body control apparatus comprising:
a memory storing instructions; and
a processor configured to execute the instructions to:
control a robot in a first control cycle according to a first control input value;
calculate a second control input value for controlling the robot in a second control cycle; and
control the robot in the second control cycle according to the calculated second control input value, wherein
the processor is configured to execute the instructions to calculate the second control input value by:
for each of a plurality of potential control input values, calculating a corresponding route cost of a corresponding simulated route of the robot resulting from simulated control of the robot in the second control cycle according to the potential control input value, the corresponding route cost quantifying how far away the robot is from a desired state, wherein calculation of the corresponding route cost takes into account stochastic noise; and
calculating the second control input as the potential control input value for which the calculated corresponding route cost is smallest.