US 12,449,812 B2
Moving-body path calculation device
Natsuhiko Sato, Tokyo (JP); and Shinya Yasuda, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 18/034,014
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Oct. 30, 2020, PCT No. PCT/JP2020/040901
§ 371(c)(1), (2) Date Apr. 26, 2023,
PCT Pub. No. WO2022/091367, PCT Pub. Date May 5, 2022.
Prior Publication US 2023/0393581 A1, Dec. 7, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0217 (2013.01) [G05D 1/0272 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A moving-body path calculation device comprising at least one processor,
the at least one processor being configured to execute:
a process of obtaining a deviation of a moving body in a direction perpendicular to an ideal route; and
a process of calculating a path of movement of the moving body on a basis of a composite parameter including a parameter indicating the deviation of the moving body having been obtained, wherein
the composite parameter includes
a parameter indicating a period of time required for the moving body to return to the ideal route,
a parameter indicating the deviation of the moving body having been obtained, and
a parameter indicating an angle between the ideal route and a moving direction of the moving body,
in the process of calculating the path of the movement of the moving body, the at least one processor calculates, on a basis of ∂I/∂ai=0 and ∂I/∂T=0, a path with which I takes a minimal value by substituting y of Formula 1 below with a polynomial of Formula 2 below, where T is the parameter indicating the period of time required for the moving body to return to the ideal route, y is the parameter indicating the deviation of the moving body having been obtained, θ is the parameter indicating the angle between the ideal route and the moving direction of the moving body, ai is a coefficient parameter, n is a positive integer, and α is a constant:
I=∫y2+α sin2θdt  (Formula 1)
y(t)=Σi=0naiti  (Formula 2).