Title:
OBSTACLE AVOIDANCE CONTROL DEVICE, OBSTACLE AVOIDANCE CONTROL SYSTEM, OBSTACLE AVOIDANCE CONTROL METHOD, AND RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2020/157862
Kind Code:
A1
Abstract:
This obstacle avoidance control device is provided with: an avoidance command value calculation unit that determines an avoidance command value, which is a control command value for a controlled device, wherein the control command value satisfies constraint conditions including a condition sufficient for the controlled device not to come into contact with an obstacle, and the evaluation value obtained by applying the control command value to an evaluation function satisfies a prescribed exit condition; and a device control unit that controls the controlled device on the basis of the results of the processing by the avoidance command value calculation unit.
Inventors:
OYAMA HIROYUKI (JP)
ITOU TAKEHIRO (JP)
ITOU TAKEHIRO (JP)
Application Number:
PCT/JP2019/003177
Publication Date:
August 06, 2020
Filing Date:
January 30, 2019
Export Citation:
Assignee:
NEC CORP (JP)
International Classes:
G05D1/02; B25J9/10; B25J13/00; G05B19/4155
Foreign References:
| JP2018190241A | 2018-11-29 | |||
| JP2012011498A | 2012-01-19 | |||
| JP2012011494A | 2012-01-19 | |||
| JP2018167333A | 2018-11-01 | |||
| JP2018167333A | 2018-11-01 |
Other References:
See also references of EP 3920001A4
Attorney, Agent or Firm:
TANAI Sumio et al. (JP)
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