Mobile body, method for controlling the mobile body, and program

Abstract

To provide a mobile system in which each of multiple mobile units can autonomously determine its own path. [Solution] The mobile body comprises an information acquisition unit that acquires information indicating the current position of another mobile body that moves autonomously, and a route planning unit that calculates evaluation values ​​for multiple combinations of a candidate destination one step ahead from the current position of the other mobile body and a candidate destination one step ahead of the self-mobile body, and determines the destination of the self-mobile body based on at least the evaluation values.

Description

[Technical Field]

[0001] The present invention relates to a mobile body, a method for controlling a mobile body, and a program. [Background technology]

[0002] Multiple robots are being introduced in environments where people are present, such as for picking tasks in warehouses. Patent Document 1 discloses an autonomous mobile robot control system that reduces conditions that hinder human movement. This autonomous mobile robot control system comprises a higher-level management device that manages the autonomous mobile robot based on a route plan that defines the robot's movement route, and multiple environmental cameras that photograph the robot's movement range. Based on environmental information acquired using the multiple environmental cameras, the higher-level management device estimates the congestion level transition for each of the multiple management areas into which the autonomous mobile robot's operating range is divided, and updates the route plan. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-038294 [Overview of the project] [Problems that the invention aims to solve]

[0004] However, in environments where people are present, the environment is highly variable, with the number of robots (mobile units) increasing or decreasing. Conventional autonomous mobile robot control systems rely on centralized management by a higher-level control device. As a result, multiple mobile units are deployed, and updating the route plan every time the environment changes can lead to a large processing load, especially when there are many mobile units or when the environment changes frequently. This can result in the system being unable to keep up with the processing demands.

[0005] This invention has been made in view of these circumstances, and provides a mobile body, a mobile body control method, and a program that enable each of multiple mobile bodies to autonomously determine its own path. [Means for solving the problem]

[0006] This invention was made to solve the above-mentioned problems, and one aspect of the present invention is a mobile body comprising: an information acquisition unit that acquires information indicating the current position of another mobile body that moves autonomously; and a route planning unit that calculates evaluation values ​​for a plurality of combinations of a candidate destination one step ahead from the current position of the other mobile body and a candidate destination one step ahead of the self-mobile body, and determines the destination of the self-mobile body based on at least the evaluation values.

[0007] Another aspect of the present invention is the mobile body described above, wherein the calculation of the evaluation value uses a value corresponding to the progress of a task assigned to the mobile body itself and a value corresponding to the progress of a task assigned to the other mobile body.

[0008] Another aspect of the present invention is the aforementioned moving body, wherein the other moving body is a moving body that may collide with the self-moving body during one or more steps that are referenced when calculating the evaluation value.

[0009] Another aspect of the present invention is the moving body described above, wherein the path planning unit includes a movement control unit that detects or predicts collisions with other objects, and when the movement control unit detects or predicts a collision, it determines the destination of the moving body again.

[0010] Another aspect of the present invention is a mobile body control method comprising the steps of: acquiring information indicating the current position of another autonomously moving mobile body; calculating evaluation values ​​for a plurality of combinations of a candidate destination one step ahead from the current position of the other mobile body and a candidate destination one step ahead of the self-mobile body; and determining the destination of the self-mobile body based at least on the evaluation values.

[0011] Another aspect of the present invention is a program for causing a computer to function as an information acquisition unit that acquires information indicating the current position of another moving object that moves autonomously, a route planning unit that calculates evaluation values for a plurality of combinations of a movement destination candidate one step ahead from the current position of the other moving object and a movement destination candidate one step ahead of the self-moving object, and determines the movement destination of the self-moving object based at least on the evaluation values.

Advantages of the Invention

[0012] According to this invention, a moving object, a movement control method, and a program enable each of a plurality of moving objects to autonomously determine a route.

Brief Description of the Drawings

[0013] [Figure 1] It is a schematic block diagram showing the configuration of a moving object system 1 according to an embodiment of this invention. [Figure 2] It is a schematic diagram showing an example of the operating environment of the moving object 10 in the same embodiment. [Figure 3] It is a schematic block diagram showing the configuration of the moving object 10 in the same embodiment. [Figure 4] It is a flowchart for explaining an operation example of the route planning unit 16 in the same embodiment. [Figure 5] It is a diagram showing an example of the current positions and movement destination candidates of the moving objects 10-1 to 10-3 in the same embodiment. [Figure 6] It is a diagram showing an example of combinations of movement destination candidates in the same embodiment. [Figure 7] It is a sequence diagram for explaining the operation of the moving object system 1 in the same embodiment.

Modes for Carrying Out the Invention

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic block diagram showing the configuration of a mobile body system 1 according to an embodiment of this invention. The mobile body system 1 includes mobile bodies 10-1, 10-2, 10-3, a task management device 20, and a network 30. Each of the mobile bodies 10-1, 10-2, 10-3 is a mobile body that autonomously moves based on a path (planned path) planned by the device itself. For example, it may be a robot that receives and transports an item picked up by an operator in a warehouse, or a robot that serves meals in a restaurant store or the like. Also, the moving means of each of the mobile bodies 10-1, 10-2, 10-3 may be traveling by wheels or the like, or flight in the air or navigation on water by a propeller or the like. In FIG. 1, the mobile body system 1 includes three mobile bodies 10-1, 10-2, 10-3, but the number of mobile bodies may be two or four or more. Since the mobile bodies 10-1, 10-2, 10-3 have the same configuration as each other, hereinafter, they may be collectively referred to as the mobile body 10 for the sake of simplicity. <{

[0015] The task management device 20 notifies each of the mobile bodies 10-1, 10-2, 10-3 of information indicating the assigned task. The information indicating this task may include, for example, information indicating the location where the operator picks up the item, or information indicating the item. The task management device 20 may sequentially notify each of the mobile bodies 10-1, 10-2, 10-3 of information indicating one task, or may notify information indicating a plurality of tasks at once. The network 30 is, for example, a wireless LAN (Local Area Network), and connects the task management device 20, the mobile body 10-1, the mobile body 10-2, and the mobile body 10-3 so that they can communicate with each other.

[0016] Figure 2 is a schematic diagram showing an example of the operating environment of the mobile body 10 in this embodiment. Figure 2 shows an example where three mobile bodies 10-1 to 10-3 are operating in warehouse ST1. The mobile body 10 holds map information of warehouse ST1 and manages it using a grid representation that divides warehouse ST1 into multiple rectangular sections. Of these sections, the mobile body 10 designates sections SH1 to SH6 (shaded sections) occupied by shelves, for example, as inaccessible sections, and the other sections (white sections) as passable sections. Note that in Figure 2, warehouse ST1 is divided into equal sections, but it does not have to be equal. The information showing the planned route planned by the mobile body 10 may be a concatenation of information showing the sections that the mobile body 10 will pass through, in the order of passage. Hereafter, the time the mobile body 10 spends in each section will be referred to as a step, and the time it takes for the mobile body 10 to move to an adjacent section will be referred to as 1 step.

[0017] The mobile device 10 may manage map information using a graph consisting of nodes and edges. In this case, the white sections in Figure 2 may represent nodes, and adjacent sections may be connected by edges to form map information. In this case, the route planned by the mobile device 10 may be a sequence of information indicating the nodes that the mobile device 10 will travel through, linked together in the order of travel. In this case, the time the mobile device 10 spends at each node may be called a step, and the time it takes for the mobile device 10 to move to a node connected by an edge may be called one step.

[0018] Figure 3 is a schematic block diagram showing the configuration of the mobile body 10 in this embodiment. The mobile body 10 comprises a communication unit 11, an information acquisition unit 12, an information provision unit 13, an information storage unit 14, a movement control unit 15, a route planning unit 16, and a drive unit 17. The communication unit 11, information acquisition unit 12, information provision unit 13, information storage unit 14, movement control unit 15, and route planning unit 16 may be realized by a computer provided in the mobile body 10 reading and executing a program.

[0019] The communication unit 11 communicates with the task management device 20 and other mobile units 10 via the network 30. The information acquisition unit 12 acquires information indicating the task of its own mobile unit 10 from the task management device 20 via the communication unit 11. The information acquisition unit 12 also acquires information indicating the current location of the other mobile unit 10 from the other mobile unit 10 via the communication unit 11. Furthermore, the information acquisition unit 12 may acquire information indicating the task of the other mobile unit 10, or information indicating the planned route of the other mobile unit 10, from the other mobile unit 10 via the communication unit 11. The information acquisition unit 12 stores this acquired information in the information storage unit 14. The planned route of the other mobile unit 10 is the planned route from the current location of the other mobile unit 10 that the other mobile unit 10 has planned.

[0020] The information provision unit 13 provides information indicating the current location of its own mobile body 10 to other mobile bodies 10 via the communication unit 11. Furthermore, the information provision unit 13 may also provide information indicating the task of its own mobile body 10 to other mobile bodies 10 via the communication unit 11, or it may provide information indicating the planned route of its own mobile body 10. The information provision unit 13 reads this provided information from the information storage unit 14.

[0021] The information storage unit 14 stores the information acquired by the information acquisition unit 12 and the information indicating the planned route planned by the route planning unit 16, and provides the stored information to the information provision unit 13, the movement control unit 15, and the route planning unit 16. The information storage unit 14 shall be composed of non-volatile memory such as an SSD (Solid State Drive), hard disk drive, magneto-optical disk drive, flash memory, volatile memory such as RAM (Random Access Memory), or a combination thereof.

[0022] The movement control unit 15 reads information indicating the planned route of the mobile body 10 from the information storage unit 14 and controls the drive unit 17 so that the mobile body 10 moves according to the planned route. The movement control unit 15 also detects the current position of the mobile body 10 and provides information indicating the current position to the route planning unit 16. Any method can be used to detect the current position, but for example, the current position may be detected by comparing the surrounding situation detected by LiDAR (Light Detection And Ranging), a camera, etc., with a stored map. The movement control unit 15 may also be equipped with LiDAR, a camera, etc., and if it detects other mobile bodies 10, people, or objects in the direction of movement (destination based on the planned route) and detects or predicts a collision with them, it may request the route planning unit 16 to remove that direction of movement from the destination candidates and plan the route. The drive unit 17 is equipped with wheels for travel, motors that drive the wheels, etc., and operates the motors, etc., according to the control of the movement control unit 15 to move the mobile body 10.

[0023] The route planning unit 16 determines the planned route of the mobile unit 10 and stores information indicating the determined planned route in the information storage unit 14. The route planning unit 16 may periodically determine (update) the planned route of the mobile unit 10 when a task (new destination) is specified by the task management device 20. In addition, if an object or the like is detected in the direction of movement (the destination indicated by the planned route) and a collision with such object is detected or predicted, the route planning unit 16 may determine (update) the planned route of the mobile unit 10 to avoid a collision with the object. The detection of objects or the like in the direction of movement and the prediction of collisions may be performed by the movement control unit 15.

[0024] The route planning unit 16 calculates evaluation values ​​for multiple combinations of candidate destinations one step ahead from the current position of other mobile units 10 and candidate destinations one step ahead of its own mobile unit 10, and determines the destination of the mobile unit 10 based on these evaluation values. The planned route includes these destinations. The route planning unit 16 may also calculate evaluation values ​​for multiple combinations of candidate destinations for other mobile units 10 and candidate destinations for the mobile unit 10 for each step two or more steps ahead, and determine the destination of the mobile unit 10 based on these evaluation values. The planned route may include these destinations as well.

[0025] The evaluation value mentioned above is the evaluation value w calculated by formula (1). rule That's fine.

[0026]

number

[0027] In equation (1), t is a value indicating the number of steps from the step in which the evaluation value is calculated, and is an integer greater than or equal to 1. t=1 corresponds to the step in which the evaluation value is calculated. γ is the evaluation R at step t. t This value indicates the discount rate and is a constant greater than 0 and less than 1. The value of γ may be set by the manufacturer, manager, or user of the mobile body 10. K is a value that indicates how many steps ahead the prediction is used for the step in calculating the evaluation value. t This value indicates the evaluation at step t, and is calculated by equation (2).

[0028] In Equation (2), DYS is a value indicating the ratio for discounting the evaluation of other moving objects 10 with respect to the evaluation of the self - moving object 10, and is a constant greater than 0 and less than 1. The value of DYS may be set by the manufacturer, administrator, or user of the moving object 10. PickingProgress(DYS) is a value indicating the progress degree of the overall task, and basically, the more the task progresses, the larger the value becomes. PickingProgress(DYS) is calculated by Equation (3). In Equation (2), although PickingProgress(DYS) is multiplied by 10 6 it is not limited to 10 6 and may be set by the manufacturer, administrator, or user of the moving object 10.

[0029] dist(x,y) is a value indicating the distance (route) from x to y. The distance may be the distance based on the shortest path. now agent is the current position (position at the t - step ahead) of the other moving object 10, and goal agent is the destination of the other moving object 10 (for example, the place to receive the item picked up by the operator). other_agent indicates the other moving object 10, but may not include all other moving objects 10. For example, other_agent may be the other moving object 10 that may collide with the self - moving object 10. The other moving object 10 that may collide may be, for example, the other moving object 10 whose distance (route) from the current position of the self - moving object 10 is less than or equal to the threshold value. now me is the current position (position at the t - step ahead) of the self - moving object 10, and goal<00000I9>is the destination of the self - moving object 10 (for example, the place to receive the item picked up by the operator). Note that now agent 、now me each represents, at t = 1, the position of the other moving object 10 and the position of the self - moving object 10 in the step of calculating the evaluation value, and at t = 2 and later, is the position randomly moved from the position one step before.

[0030] In equation (3), MyPicking is a value that indicates the progress of the task of the mobile agent 10, for example, the number of items that the mobile agent 10 has received from the worker (picked-up items). OtherPicking is a value that indicates the progress of the task of the other mobile agent 10 (or just the mobile agent 10 indicated by other_agent), for example, the number of items that the other mobile agent 10 has received from the worker (picked-up items). TotalProducts is a value that indicates the total amount of tasks, for example, the number of items to be picked up.

[0031] Figure 4 is a flowchart illustrating an example of the operation of the route planning unit 16 in this embodiment. First, the route planning unit 16 sets the number of trials m to 0 (step S1). Next, the route planning unit 16 increments the number of trials m, i.e., sets the number of trials m to m + 1 (step S2). Next, the route planning unit 16 selects a combination of a candidate destination one step ahead from the current step of its own mobile body 10 and a candidate destination one step ahead from the current step of another mobile body 10 based on UCB1 (Upper Confidence Bound version 1) (step S3).

[0032] Process S3 will be explained using Figures 5 and 6. Figure 5 shows an example of the current positions and destination candidates for the moving bodies 10-1 to 10-3 in this embodiment. Figure 6 shows an example of a combination of destination candidates in this embodiment. If the current positions of moving bodies 10-1 to 10-3 are positions A, B, and C in Figure 5, then the destination candidates for moving body 10-1 one step ahead are positions A1 and A2, the destination candidates for moving body 10-2 one step ahead are positions B1 and B2, and the destination candidates for moving body 10-3 one step ahead are positions C1 and C2.

[0033] Let's consider the case where the self-moving body 10 is moving body 10-1. Of the other moving bodies 10-2 and 10-3, the path planning unit 16 considers that moving body 10-3 is far enough away from moving body 10-1 that its distance is above a threshold, and therefore there is no possibility of collision. For this reason, the path planning unit 16 considers only moving body 10-2 as the other moving body 10 to consider for combinations of destination candidates. Note that this threshold may be a value corresponding to K in equation (1) (for example, twice K).

[0034] Thus, if the only other moving body 10 to consider for combinations of destination candidates is moving body 10-2, the combinations of destination candidates one step ahead of the current position A of the self-moving body 10 and the current position B of the other moving body 10 will be four combinations, as shown in Figure 6: combination A1, B1, combination A1, B2, combination A2, B1, and combination A2, B2. The path planning unit 16 may also exclude combinations from the list of destination candidates where the self-moving body 10 and the other moving body 10 are in the same position (collision).

[0035] The route planning unit 16 calculates UCB1 for each of these four combinations and selects the combination with the largest UCB1. UCB1 may also be calculated using equation (4). When using equation (4), all combinations are selected once each, and an evaluation value w is calculated for each combination. rule Until the calculation is performed, n will be 0, and UCB1 cannot be calculated. Therefore, the route planning unit 16 may select one combination from the unselected combinations until all combinations have been selected once each.

[0036]

number

[0037] In equation (4), the cumulative evaluation value w is equal to the evaluation value w of the combination. rule This is the cumulative value. The number of selections n is the number of times the combination has been selected. The number of trials m is the number of trials in the current step. ln is the natural logarithm.

[0038] Returning to Figure 4, the path planning unit 16 then randomly selects a path for the self-moving body 10 and a path for the other moving bodies 10 from the combination selected in step S3 to K steps ahead (step S4). Here, K is the same constant as K in equation (1). The path planning unit 16 may choose to avoid selecting a path in which the self-moving body 10 and the other moving bodies 10 are in the same position (collision).

[0039] Next, the route planning unit 16 uses the route selected in step S4 to determine the evaluation value w of the combination selected in step S3. rule Calculate (step S5). Evaluation value w rule When calculating using formula (1), the evaluation R t This is an evaluation based on the positions of the self-moving body 10 and other moving bodies 10 at each step t along the path of the K steps selected in process S4.

[0040] Next, the route planning unit 16 updates the cumulative evaluation value w and the number of selections n for the combination of the current step and past steps (process S6). For example, if the combination selected in process S3 is combination A2,B1 in Figure 6, the route planning unit 16 adds the evaluation value wrule to the cumulative evaluation value w of the current step combination A2,B1 and the past step combination A,B, and adds 1 to the number of selections n for each.

[0041] Next, the route planning unit 16 determines whether the number of trials m exceeds the threshold M (step S7). The threshold M may be a value set by the manufacturer, manager, or user of the mobile body 10. If the number of trials m does not exceed the threshold M (step S7-No), the process returns to step S2, and steps S2 to S6 are repeated until the number of trials m exceeds the threshold M.

[0042] If the number of trials m exceeds the threshold M (step S7-Yes), the route planning unit 16 advances the current step by one (step S8). For example, if the current step is combination A,B in Figure 6, the route planning unit 16 advances the current step to the step one level below combination A,B in Figure 6, which is combination A1,B1, combination A1,B2, combination A2,B1, and combination A2,B2. At this time, the route planning unit 16 may use a portion of combination A1,B1, combination A1,B2, combination A2,B1, and combination A2,B2 as the current position in the current step that has been advanced by one step. This portion may be a predetermined number or proportion of combinations selected in order from those with the most selections.

[0043] Next, the route planning unit 16 determines whether or not it has evaluated a predetermined number of steps (whether or not it has advanced the current step by a predetermined number of steps) (step S9). If it has not evaluated a predetermined number of steps (step S9-No), the process returns to step S1, and steps S1 to S8 are repeated until it has evaluated a predetermined number of steps. If it has evaluated a predetermined number of steps (step S9-Yes), the route planning unit 16 selects the combination with the most selections in each step and sets it as the planned route for the mobile unit 10 (step S10). Note that in step S10, the route planning unit 16 selects the combination with the most selections n in each step, but the route planning unit 16 may also select the destination candidate with the highest total number of selections n in each step and set it as the planned route. For example, in the second step from the top in Figure 6, the total number of selections n for destination candidate A1 may be the sum of the number of selections n for combination A1, B1 and the number of selections n for combination A1, B2.

[0044] Figure 7 is a sequence diagram illustrating the operation of the mobile system 1 in this embodiment. Figure 7 mainly describes the operation related to the mobile body 10-1. Although each part of the mobile body 10-1 communicates with other devices via the communication unit 11, the communication unit 11 is omitted in Figure 7. The task management device 20 transmits information indicating the task of the mobile body 10-1 to the information acquisition unit 12 (sequence m1). This transmission may be performed at the request of the information acquisition unit 12. The information acquisition unit 12 receives the information indicating the task and stores it in the information storage unit 14 (sequence m2).

[0045] Furthermore, the mobile unit 10-2 transmits information indicating its current location and information indicating its task to the information acquisition unit 12 (sequence m3). This transmission may be performed at the request of the information acquisition unit 12. The information acquisition unit 12 receives this information and stores it in the information storage unit 14 (sequence m4).

[0046] The route planning unit 16 reads information indicating the task of the mobile body 10-1, and information indicating the current position and task of the mobile body 10-2 from the information storage unit 14 (sequence m5). The route planning unit 16 also obtains information indicating the current position of the mobile body 10-1 from the movement control unit 15 (sequence m6). The route planning unit 16 calculates the planned route for the mobile body 10-1 using the information obtained in sequences m5 and m6 (sequence m7). The route planning unit 16 stores the calculated information indicating the planned route in the information storage unit 14 (sequence m8). The movement control unit 15 reads the information indicating the planned route stored in the information storage unit 14 (sequence m9), and controls the drive unit 17 based on this information to move the mobile body 10-1.

[0047] The moving body 10-1 periodically repeats sequences m3 to m9 (sequence ma1). However, if the movement control unit 15 detects or predicts a collision during this repetition, the movement control unit 15 notifies the path planning unit 16 of the collision (sequence m10). Upon receiving notification of a collision, the path planning unit 16 instructs the movement control unit 15 to stop the moving body 10-1 (sequence m11).

[0048] Furthermore, the route planning unit 16 reads information indicating the task of the mobile body 10-1, and information indicating the current position and task of the mobile body 10-2 from the information storage unit 14 (sequence m12). The route planning unit 16 also obtains information indicating the current position of the mobile body 10-1 from the movement control unit 15 (sequence m13). Using the information obtained in sequences m12 and m13, the route planning unit 16 calculates the planned route for the mobile body 10-1 (sequence m14). At this time, the route planning unit 16 may exclude the destination when notified of a collision by the movement control unit 15 from the destination candidates. The route planning unit 16 stores the calculated planned route information in the information storage unit 14 (sequence m15). The movement control unit 15 reads the planned route information stored in the information storage unit 14 (sequence m16) and controls the drive unit 17 based on this information to move the mobile body 10-1. From this point onward, the mobile unit 10-1 returns to sequence m3 and periodically repeats sequences m3 through m9 (sequence ma2). Furthermore, the information provision unit 13 periodically, or when requested by the mobile unit 10-2, reads information indicating the current location of the mobile unit 10-1 and information indicating the task from the information storage unit 14 (sequence m17), and transmits it to the mobile unit 10-2 (sequence m18). In Figure 7, sequences m17 and m18 are shown at the end for convenience, but these sequences can be performed at any time between sequences m16 and m16.

[0049] The present invention may also be in the following embodiments. (1) One embodiment of the present invention is a mobile body comprising: an information acquisition unit that acquires information indicating the current position of another mobile body that moves autonomously; and a route planning unit that calculates evaluation values ​​for a plurality of combinations of a candidate destination one step away from the current position of the other mobile body and a candidate destination one step away from the mobile body itself, and determines the destination of the mobile body itself based on at least the evaluation values.

[0050] (2) Another embodiment of the present invention is the mobile body described in (1), wherein the calculation of the evaluation value uses a value corresponding to the progress of the task given to the mobile body itself and a value corresponding to the progress of the task given to the other mobile body.

[0051] (3) Another embodiment of the present invention is a moving body as described in (1) or (2), wherein the other moving body is a moving body that may collide with the self-moving body during one or more steps that are referenced when calculating the evaluation value.

[0052] (4) Another embodiment of the present invention is a mobile body according to any one of (1) to (3), wherein the path planning unit includes a movement control unit that detects or predicts collisions with other objects, and when the movement control unit detects or predicts a collision, it determines the destination of the mobile body again.

[0053] (5) Another embodiment of the present invention is a mobile body control method comprising the steps of: acquiring information indicating the current position of another autonomously moving mobile body; calculating evaluation values ​​for a plurality of combinations of a candidate destination one step ahead from the current position of the other mobile body and a candidate destination one step ahead of the self-mobile body; and determining the destination of the self-mobile body based on at least the evaluation values.

[0054] (6) Another embodiment of the present invention includes a computer comprising: an information acquisition unit that acquires information indicating the current position of another autonomously moving object; and a route planning unit that calculates evaluation values ​​for a plurality of combinations of a candidate destination one step ahead from the current position of the other object and a candidate destination one step ahead of the self-moving object, and determines the destination of the self-moving object based on at least the evaluation values. This is a program designed to function as such.

[0055] Alternatively, the mobile bodies 10, 10-1, 10-2, 10-3, and the task management device 20 in Figures 1 and 2 may be realized by recording a program for realizing these functions on a computer-readable recording medium, loading the program recorded on this recording medium into a computer system, and executing it. The term "computer system" here includes hardware such as an operating system and peripheral devices. Furthermore, the computer may be a classical computer, a quantum computer, or a combination of both.

[0056] Furthermore, "computer-readable recording media" refers to portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into computer systems. Moreover, "computer-readable recording media" also includes those that dynamically hold programs for a short period of time, such as communication lines used when transmitting programs over networks such as the Internet or communication lines such as telephone lines, and those that hold programs for a certain period of time, such as volatile memory inside computer systems that act as servers or clients in such cases. In addition, the above-mentioned programs may be for the purpose of realizing some of the functions described above, and may also be able to realize the above-mentioned functions in combination with programs already recorded in the computer system.

[0057] While embodiments of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and may include design modifications and the like that do not depart from the spirit of this invention. [Explanation of symbols]

[0058] 1 Mobile System 10-1, 10-2, 10-3 Mobile Units 11 Communications Department 12 Information acquisition department 13 Information Provision Department 14 Information storage department 15 Movement Control Unit 16 Route Planning Department 17 Drive Unit 20 Task Management Device 30 Networks

Claims

1. An information acquisition unit that acquires information indicating the current position of other autonomously moving objects, A path planning unit calculates evaluation values ​​for multiple combinations of candidate destinations one step ahead from the current position of the other moving body and candidate destinations one step ahead of the self-moving body, and determines the destination of the self-moving body based on at least the evaluation values. A mobile device equipped with [the necessary components].

2. The mobile body according to claim 1, wherein the calculation of the evaluation value uses a value corresponding to the progress of the task given to the mobile body itself and a value corresponding to the progress of the task given to the other mobile body.

3. The mobile body according to claim 1, wherein the other mobile body is a mobile body that may collide with the mobile body itself during one or more steps that are referenced when calculating the evaluation value.

4. The aforementioned path planning unit includes a movement control unit that detects or predicts collisions with other objects. The mobile body according to claim 1, wherein if the movement control unit detects or predicts the collision, it determines the destination of the mobile body again.

5. A process of acquiring information indicating the current position of other autonomously moving objects, A step of calculating evaluation values ​​for multiple combinations of a candidate destination one step ahead from the current position of the other moving body and a candidate destination one step ahead of the self-moving body, and determining the destination of the self-moving body based on at least the evaluation values. A method for controlling a mobile object.

6. Computers, An information acquisition unit that acquires information indicating the current position of other autonomously moving objects. A path planning unit calculates evaluation values ​​for multiple combinations of candidate destinations one step ahead from the current position of the other moving body and candidate destinations one step ahead of the self-moving body, and determines the destination of the self-moving body based on at least the evaluation values. A program designed to function as such.

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