Control device, mobile body, and mobile body distributed control program

Abstract

To cause multiple moving bodies to move along their respective route plans while avoiding collisions under autonomous distributed control.SOLUTION: A plurality of moving bodies arranged in areas in charge that do not interfere with each other are provided, and the plurality of moving bodies acquire position information from each other, thereby avoiding collisions and moving to change their areas in charge. At this time, a route plan of an own moving body and the position information of the other moving body are obtained; areas in charge of the own moving body and the other moving body are determined based on the position information of the other moving body; a risk of a local area including the position of the own moving body is determined based on the route plan; a target position is calculated based on the risk of the local area and the area in charge of the own moving body; and the own moving body is moved to the target position.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a control device for moving a mobile object, a mobile object, and a distributed control program for a mobile object. [Background technology]

[0002] Patent Document 1 describes a mobile system in which a transport vehicle and a cart, etc., move autonomously in conjunction with each other without mechanical connection while acquiring information about the surrounding environment, and can automatically branch off and merge.

[0003] More specifically, the mobile system comprises an integrated planning means for planning the travel routes of a plurality of mobile robots, the integrated planning means defining the plurality of mobile robots as master mobile robots that move autonomously and slave mobile robots that move in response to instructions from the master mobile robot, and each of the plurality of mobile robots comprises at least a measurement means for measuring the conditions of the surrounding environment, a communication means for communicating with the integrated planning means and other mobile robots, a master position recognition means for recognizing the position of the mobile robot, a slave position recognition means for recognizing the position of the other mobile robots, a travel planning means for planning travel routes for the mobile robot and the other mobile robots, and a travel control means for controlling the mobile mechanism in accordance with the travel planning means. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4920645 Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention aims to provide a control device, a mobile body, and a distributed control program for mobile bodies that enable multiple mobile bodies to move along their respective route plans while avoiding collisions under autonomous distributed control. [Means for solving the problem]

[0006] The control device of the present invention is a control device in a distributed control system for mobile bodies that has a plurality of mobile bodies that are arranged in areas of responsibility that do not interfere with each other, and that moves the plurality of mobile bodies to change their areas of responsibility while avoiding collisions by acquiring position information from each other, and includes a movement information acquisition unit that acquires a route plan for the host mobile body and position information of other mobile bodies, a responsibility area determination unit that determines the responsibility areas of the host mobile body and the other mobile bodies based on the position information of the other mobile bodies, and a movement control unit that determines a risk in a local area including the position of the host mobile body based on the route plan, calculates a target position based on the risk in the local area and the responsibility area of ​​the host mobile body, and moves the host mobile body to the target position, and the acquisition by the movement information acquisition unit, the determination by the responsibility area determination unit, and the determination, calculation, and movement by the movement control unit are repeated at a predetermined cycle.

[0007] According to the control device of the present invention, a movement information acquisition unit acquires a route plan for the host mobile body and position information of another mobile body. A coverage area determination unit determines coverage areas for the host mobile body and the other mobile body based on the position information of the other mobile body. A movement control unit determines a risk in a local area including the position of the host mobile body based on the route plan, calculates a target position based on the risk in the local area and the coverage area of ​​the host mobile body, and moves the host mobile body to the target position. The acquisition by the movement information acquisition unit, the determination by the coverage area determination unit, and the determination, calculation, and movement by the movement control unit are repeated at a predetermined cycle.

[0008] In this way, the risk of a local area including the position of the own mobile unit is determined based on the route plan, a target position is calculated based on the risk of the local area and the area covered by the own mobile unit, and the own mobile unit is moved to the target position, and this process is repeated. This allows multiple mobile units to move along their respective route plans while avoiding collisions under autonomous distributed control.

[0009] The movement information acquisition unit acquires position information of the other mobile object from a sensor of the own mobile object.

[0010] The movement control unit may also modify the risk of the local area based on the area covered by the own mobile device and calculate the target position from the risk of the local area after modification. Alternatively, the movement control unit may calculate the target position from within the area covered by the own mobile device based on the risk of the local area.

[0011] The coverage area is a Voronoi area surrounded by perpendicular bisectors between the moving bodies.

[0012] A program according to the present invention is a distributed control program for a mobile object that causes a computer to operate as the above-described control device.

[0013] A moving body according to the present invention is a moving body including the above-described control device. [Effects of the Invention]

[0014] As described above, the present invention has the excellent effect of enabling a plurality of mobile objects to move along their respective route plans while avoiding collisions under autonomous distributed control. [Brief explanation of the drawings]

[0015] [Figure 1] 2 is a block diagram of a control system for operating a moving body according to the first embodiment. FIG. [Figure 2] FIG. 2 is a plan view of a Voronoi-divided movable area according to the first embodiment. [Figure 3] 1 is a functional block diagram of a control device for a moving body according to a first embodiment. [Figure 4] FIG. 10 is a diagram for explaining a method for setting a potential in a local region. [Figure 5] FIG. 10 is a diagram for explaining a method for setting a potential in a local region. [Figure 6]4 is a flowchart showing a distributed control routine in the control device according to the first embodiment. [Figure 7] 5 is a flowchart showing a process flow for determining a target position in the control device according to the first embodiment. [Figure 8] FIG. 1 is a diagram showing an example of five moving objects crossing a T-junction simultaneously. [Figure 9] FIG. 1 is a diagram showing an example of five moving objects crossing a T-junction simultaneously. [Figure 10] 10 is a flowchart showing a process flow for determining a target position in a control device according to a second embodiment. [Figure 11] 10 is a flowchart showing a distributed control routine in a control device according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] [First embodiment] Fig. 1 shows a mobile object 10 that is applied to a distributed control system for mobile objects according to this embodiment. Fig. 1 is a block diagram of a control system for operating the mobile object 10 that is applied to this embodiment.

[0017] 2 is a plan view of an area 12 of the moving body 10. In the area 12, a plurality of moving bodies 10 exist, and are capable of moving independently.

[0018] As shown in FIG. 1, a mobile body 10 is capable of moving unmanned within a travelable range of an area 12, and is equipped with a control device 14 equipped with a microcomputer that executes control including the movement.

[0019] The microcomputer of the control device 14 has a CPU 16A, RAM 16B, ROM 16C, an input / output port (I / O) 16D, and a bus 16E such as a data bus or a control bus that connects these. Connected to the I / O 16D are an observation module 18, a movement module 20, a position recognition module 22, and a communication module 24. The observation module 18 is an example of a sensor.

[0020] The control device 14, for example, starts a distributed control program for a moving object pre-stored in ROM 16C on CPU 16A, controls the operation of the observation module 18, the movement module 20, the position recognition module 22, and the communication module 24, and also functions as a movement information acquisition unit 30, a responsible area determination unit 32, and a movement control unit 34, as shown in Figure 3.

[0021] (Observation Module 18) A typical device applied to the observation module 18 is, for example, a camera, which captures an image of the surrounding environment from the position of the mobile body 10.

[0022] The observation module 18 is not limited to taking images using a camera, but may also detect geographical features (landmarks) by emitting radio waves (radar, laser, ultrasonic waves, etc.).

[0023] The observation module 18 acquires position information of other moving bodies 10 (relative positional relationships with the own moving body 10) from the captured image of the surrounding environment. The observation module 18 also acquires position information of walls and obstacles (relative positional relationships with the own moving body 10) from the captured image of the surrounding environment.

[0024] (Mobile Module 20) The mobile body 10 of this embodiment is a mobile module 20 that moves on the ground, and can travel toward a target position by controlling the drive and steering of the motor of a mobile robot, which is a device applied to the mobile module 20.

[0025] The moving body 10 is not limited to the moving module 20 that moves on land, but may be a moving module 20 that moves on water or in the air, and a plurality of devices may be used in combination.

[0026] (Location Awareness Module 22) The location recognition module 22 has a function to recognize the location of the own mobile body 10, and is equipped with at least one sensor of the following devices to obtain location information: GPS, laser, radar, ultrasound, motion capture, camera, wireless communication, radio strength, odometry, and landmark.

[0027] The position recognition module 22 recognizes the position of the mobile object 10 itself by coordinates in three-dimensional space, etc., based on the results (detection signals) detected by the sensor.

[0028] (Communication Module 24) The communication module 24 includes a wireless communication device as a device. The wireless communication includes a route plan receiving unit that receives a route plan from the current position of the mobile body 10 to a final destination position from a control room that manages the overall movement of multiple mobile bodies 10, as a function of communication between the mobile bodies 10. Here, the communication cycle between the control room and the mobile bodies 10 is longer than the control cycle of the control device 14. Furthermore, communication of position information and the like may be performed between the mobile bodies 10. In this case, the communication cycle between the mobile bodies 10 is longer than the control cycle of the control device 14, and the communication cycle between the control room and the mobile bodies 10 is longer than the communication cycle between the mobile bodies 10. Furthermore, the route plan may be received from the control room each time a waypoint in the route plan is reached.

[0029] In the control device 14 of each moving body 10, the movement information acquisition unit 30 acquires the route plan of the own moving body 10 and the position information of the other moving bodies 10.

[0030] In addition, the coverage area determination unit 32 performs Voronoi division on the area 12 shown in FIG. 2 based on the position information of the other moving body 10, and determines Voronoi areas as coverage areas of the own moving body 10 and the other moving body 10.

[0031] Voronoi tessellation is a method for analyzing the sphere of influence of each point (here, the position of the moving body 10), and when a set of points with the shortest distance to the moving body 10 is represented by a single polygon, each is called a Voronoi region. For example, in FIG. 2, in Voronoi tessellation on a two-dimensional plane, Voronoi edges 26, which are the boundaries of the Voronoi tessellation, are the perpendicular bisectors of the line segments connecting the moving bodies 10 (thick white lines in FIG. 2), and each of the Voronoi regions (1) to (n) partitioned by the Voronoi edges 26 always contains one moving body 10. The variable n is the number of Voronoi tessellations, and in FIG. 2, n=3.

[0032] In this embodiment, the mobile objects 10 move freely relative to each other within the travelable range of the area 12, and the Voronoi region changes each time.

[0033] The movement control unit 34 calculates a target position based on the potential of a local region including the position of the own moving body 10 based on the path plan of the own moving body 10 and the Voronoi region of the own moving body 10, and controls the own moving body 10 to move to the target position. Note that the potential is an example of risk, and the lower the risk of collision, the higher the value of the potential.

[0034] Specifically, the movement control unit 34 sets a positive potential φ (φ>0) on the route plan within a local area centered on the current position of the own mobile body 10, as shown in Figure 4, and also sets a negative potential φ (φ<0) on building walls, other mobile bodies 10, people, obstacles, etc. within the local area, as shown in Figure 5.

[0035] Figure 4 shows an example in which a positive potential φ is assigned to the path plan, and a Gaussian distribution is set with its peak on the path plan. The closer the positive potential φ is to the final target position, the larger its value becomes. A negative potential φ is assigned to the walls. Note that the local region may be a rectangular region.

[0036] 5 shows an example in which a negative potential φ is given as a penalty to an obstacle area (an area that cannot be passed due to the presence of an obstacle) that is set to surround at least one obstacle. The potential value φ is given as 0 on the trajectory that the moving object 10 has passed through, so that the area is forgotten.

[0037] Then, the movement control unit 34 corrects the potential of the local region based on the Voronoi region of the own mobile body 10, walls and obstacles, a forgetting factor based on the position history of the own mobile body 10, the movement ability of the own mobile body 10, etc., and calculates the position where the potential of the local region after correction is maximum as the target position for the next step.

[0038] For example, the potential value outside the Voronoi region of the player's mobile body 10 is corrected to be smaller, the potential value in the region of walls and obstacles is corrected to be smaller, the potential value of the part corresponding to the position history of the player's mobile body 10 is corrected to be larger, and the potential value outside the range that can be moved by the next step based on the movement capability of the player's mobile body 10 is corrected to be smaller.

[0039] Here, the route plan is assumed to be obtained from the control room, and the nearby route plan is acquired from the position information of the own mobile body 10. Note that the target position for the next step may be calculated using the gradient of the potential instead of the position where the potential is maximum.

[0040] The control device 14 repeats the processing of the movement information acquisition unit 30, the coverage area determination unit 32, and the movement control unit 34 at a predetermined control cycle until the own moving body 10 reaches the final target position.

[0041] The operation of this embodiment will be described below with reference to the flowcharts of FIGS.

[0042] FIG. 6 is a flowchart showing a distributed control routine according to the distributed control program according to this embodiment, and mainly shows a flow specialized for controlling the movement of the moving body 10.

[0043] In step S100, the communication module 24 acquires a route plan for the own mobile body 10 to the final target position from the control room.

[0044] In step S102, the position recognition module 22 acquires the position of the own mobile object 10.

[0045] In step S104, the observation module 18 acquires position information of other moving bodies 10 (relative positional relationship with the own moving body 10) and also acquires position information of walls and obstacles (relative positional relationship with the own moving body 10).

[0046] In step S106, the control device 14 calculates the target position for the next step.

[0047] In step S108, the control device 14 controls the movement module 20 to move the own moving body 10 to the target position of the next step.

[0048] In step S110, the control device 14 determines whether the moving body 10 has reached the final target position, and if the determination is affirmative, the routine ends. If the determination is negative in step S110, the process returns to step S102, and the above steps are repeated.

[0049] The above step S106 is realized by the processing routine of FIG.

[0050] First, in step S120, the coverage area determination unit 32 performs Voronoi division on the area 12 shown in Figure 2 above based on the position information of the other mobile body 10 obtained by the observation module 18, and determines Voronoi areas as the coverage areas of the own mobile body 10 and the other mobile body 10.

[0051] In step S122, the movement information acquisition unit 30 acquires the position information of the walls and obstacles (the relative positional relationship with the own mobile unit 10) obtained by the observation module .

[0052] In step S124, the movement control unit 34 acquires the position history of the own moving object 10.

[0053] In step S126, the movement control unit 34 acquires the movement capability of the own moving body 10.

[0054] In step S128, the movement control unit 34 acquires a route plan in the vicinity of the current position from the route plan of the own moving body 10.

[0055] In step S130, the movement control unit 34 calculates the potential of the local area including the position of the own moving body 10 based on the route plan of the own moving body 10.

[0056] In step S132, the movement control unit 34 modifies the potential of the local region based on the Voronoi region of the host mobile body 10, walls and obstacles, forgetting factors based on the position history of the host mobile body 10, the movement ability of the host mobile body 10, etc.

[0057] In step S134, the movement control unit 34 calculates the position where the potential of the local region after the correction is maximized as the target position for the next step.

[0058] 8 shows an example in which five moving bodies 10-1 to 10-5 simultaneously pass through a T-junction while avoiding collisions. Lines with arrows indicate the route plans for moving bodies 10-1 to 10-5 given by the control room.

[0059] 9(A) to 9(F) show the positions of the five moving bodies 10-1 to 10-5 at each step. FIG. 9(A) shows the positions of the five moving bodies 10-1 to 10-5 at the next step at the time of FIG. 8, and FIG. 9(B) shows the positions of the five moving bodies 10-1 to 10-5 at the next step at the time of FIG. 9(A). FIG. 9(C) shows the positions of the five moving bodies 10-1 to 10-5 at the next step at the time of FIG. 9(B), showing that moving body 10-4 has passed through the intersection. FIG. 9(D) shows the positions of the five moving bodies 10-1 to 10-5 at the next step at the time of FIG. 9(C), showing that moving body 10-5 has passed through the intersection. FIG. 9(E) shows the positions of the five moving bodies 10-1 to 10-5 at the next step at the time of FIG. 9(D), showing that moving body 10-3 has passed through the intersection. FIG. 9(F) shows the positions of the five moving objects 10-1 to 10-5 in the next step at the time of FIG. 9(E), where the moving objects 10-1 and 10-2 have just passed the intersection.

[0060] As described above, according to this embodiment, the potential of a local region including the position of the own mobile body is determined based on a route plan, a target position is calculated based on the potential of the local region and the Voronoi region of the own mobile body, and the own mobile body is moved to the target position, and this process is repeated. This allows multiple mobile bodies to move along their respective route plans while avoiding collisions under autonomous distributed control.

[0061] Furthermore, each mobile unit can successively correct its route plan and determine its target position using only its own information.

[0062] Furthermore, since there is no need to plan a route taking into account the number of moving bodies, the number of moving bodies can be changed flexibly.

[0063] Furthermore, each mobile unit can successively revise its route plan and determine its target position without communicating with nearby mobile units, enabling completely autonomous and decentralized processing. Furthermore, each mobile unit does not need information about the route plans of nearby mobile units. Furthermore, there is almost no computational load on the control room.

[0064] [Second embodiment] Next, a distributed control system for a moving object according to a second embodiment will be described. Note that a moving object 10 according to the second embodiment has the same configuration as that of the first embodiment, and therefore the same reference numerals are used and the description thereof will be omitted.

[0065] The second embodiment differs from the first embodiment in that the target position of the next step is calculated from within the Voronoi region of the own mobile body according to the potential, without modifying the potential of the local region generated based on the path plan.

[0066] The movement control unit 34 of the control device 14 in the second embodiment sets a positive potential on the route plan within a local area centered on the current position of the own mobile body 10, and sets a negative potential on building walls, other mobile bodies 10, people, obstacles, etc. within the local area.

[0067] Then, the movement control unit 34 generates constraint conditions indicating the range within which the own mobile body 10 can move by the next step based on the Voronoi region of the own mobile body 10, walls and obstacles, forgetting factors based on the position history of the own mobile body 10, the movement capability of the own mobile body 10, etc., and calculates the position within the range that satisfies the constraint conditions where the potential of the local region is maximum as the target position for the next step.

[0068] For example, the range of movement is set to the Voronoi region of the own mobile body 10, and areas of walls and obstacles are not included in the range of movement, the part corresponding to the position history of the own mobile body 10 is included in the range of movement, and the range of movement outside the range that can be moved to by the next step based on the movement ability of the own mobile body 10 is not included in the range of movement.

[0069] The control device 14 of the moving body 10 executes a routine similar to the distributed control routine of FIG.

[0070] The above step S106 is realized by the processing routine of FIG.

[0071] First, in step S120, the coverage area determination unit 32 performs Voronoi division on the area 12 shown in Figure 2 above based on the position information of the other mobile body 10 obtained by the observation module 18, and determines Voronoi areas as the coverage areas of the own mobile body 10 and the other mobile body 10.

[0072] In step S122, the movement information acquisition unit 30 acquires the position information of the walls and obstacles (the relative positional relationship with the own mobile unit 10) obtained by the observation module .

[0073] In step S124, the movement control unit 34 acquires the position history of the own moving object 10.

[0074] In step S126, the movement control unit 34 acquires the movement capability of the own moving body 10.

[0075] In step S200, the movement control unit 34 generates constraint conditions indicating the range in which the own mobile body 10 can move, based on the Voronoi region of the own mobile body 10, walls and obstacles, forgetting factors based on the position history of the own mobile body 10, the movement capability of the own mobile body 10, etc.

[0076] In step S128, the movement control unit 34 acquires a route plan in the vicinity of the current position from the route plan of the own moving body 10.

[0077] In step S130, the movement control unit 34 calculates the potential of the local area including the position of the own moving body 10 based on the route plan of the own moving body 10.

[0078] In step S202, the movement control unit 34 calculates, as the target position for the next step, a position where the potential of the local region is maximized within a range that satisfies the constraint conditions.

[0079] The other configurations and operations of the moving body 10 are the same as those in the first embodiment, and therefore will not be described.

[0080] As described above, according to this embodiment, the potential of a local region including the position of the own mobile body is determined based on a route plan, a target position is calculated based on the potential of the local region and constraints that take into account the Voronoi region of the own mobile body, and the own mobile body is moved to the target position, and this process is repeated. This allows multiple mobile bodies to move along their respective route plans while avoiding collisions under autonomous distributed control.

[0081] [Third embodiment] Next, a distributed control system for a moving object according to a third embodiment will be described. Note that a moving object 10 according to the third embodiment has the same configuration as that of the first embodiment, and therefore the same reference numerals are used and the description thereof will be omitted.

[0082] The third embodiment differs from the first embodiment in that the target position of the next step is calculated using a conventionally known method, and is compared with the target position of the next step calculated using the method described in the first or second embodiment to determine the target position of the next step.

[0083] The movement control unit 34 of the control device 14 according to the third embodiment calculates the target position for the next step using the method described in the first or second embodiment.

[0084] The movement control unit 34 also calculates the target position of the next step using a conventionally known method, for example, the target position of the next step is calculated according to the A-star algorithm based on the route plan of the own moving body 10 and the position information of the other moving bodies 10.

[0085] The movement control unit 34 calculates the distance between the target position of the next step calculated using the method described in the first or second embodiment above and the target position of the next step calculated using a conventionally known method, and if the distance is less than a threshold value, adopts the target position of the next step calculated using the conventionally known method, and if the distance is equal to or greater than the threshold value, adopts the target position of the next step calculated using the method described in the first or second embodiment above.

[0086] 11 is a flowchart showing a distributed control routine according to the third embodiment, and mainly shows a flow specialized for the movement control of the moving body 10. Note that the same processes as those in the first embodiment are given the same reference numerals and detailed explanations are omitted.

[0087] In step S100, the communication module 24 acquires a route plan for the own mobile body 10 to the final target position from the control room.

[0088] In step S102, the position recognition module 22 acquires the position of the own mobile object 10.

[0089] In step S104, the observation module 18 acquires the position information of the other moving body 10, as well as the position information of walls and obstacles.

[0090] In step S106, the control device 14 calculates the target position for the next step.

[0091] In step S300, the movement control unit 34 calculates the target position for the next step using a conventionally known method.

[0092] In step S302, the movement control unit 34 calculates the distance between the target position of the next step calculated in step S106 above and the target position of the next step calculated in step S300 above, and if the distance is less than a threshold, the target position of the next step calculated in step S300 above is adopted, and if the distance is equal to or greater than the threshold, the target position of the next step calculated in step S106 above is adopted.

[0093] In step S108, the control device 14 controls the movement module 20 to move the own moving body 10 to the target position of the next step.

[0094] In step S110, the control device 14 determines whether the moving body 10 has reached the final target position, and if the determination is affirmative, the routine ends. If the determination is negative in step S110, the process returns to step S102, and the above steps are repeated.

[0095] The other configurations and operations of the moving body 10 are the same as those in the first embodiment, and therefore will not be described.

[0096] As described above, according to this embodiment, the potential of a local region including the position of the own mobile body is determined based on a route plan, a target position is calculated based on the potential of the local region and the Voronoi region of the own mobile body, the target position is calculated using a conventionally known method, and the target position of the next step is determined from the two target positions. This makes it possible to determine appropriate target positions for multiple mobile bodies to move along their respective route plans while avoiding collisions under autonomous distributed control.

[0097] The present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the spirit and scope of the present invention.

[0098] For example, in the above embodiment, the case where the target position of the next step is calculated has been described as an example, but the present invention is not limited to this, and the target position or trajectory several steps ahead may be calculated.

[0099] Furthermore, in the above embodiment, an example has been described in which no communication is performed between mobile bodies, but this is not limiting, and position information may be communicated between mobile bodies. In this case, position information may be communicated between mobile bodies at a period longer than the control period. This is because the observation module of each mobile body can obtain position information of other mobile bodies, and the performance of the travel control of each mobile body does not depend on communication.

[0100] Furthermore, a person may be treated in the same way as a nearby moving object, and the Voronoi region of the person and the moving object may be calculated by Voronoi division. In this case, potentials using the Voronoi region can be set, taking into consideration collision avoidance with the person.

[0101] Furthermore, the modification of the potential of the local region described in the first embodiment may be combined with the generation of the constraint conditions described in the second embodiment. In this case, it may be possible to select whether to use the Voronoi region of the host mobile body 10, walls and obstacles, a forgetting factor based on the position history of the host mobile body 10, the movement ability of the host mobile body 10, etc. for modifying the potential of the local region or for generating the constraint conditions. [Explanation of symbols]

[0102] 10 Mobile 14 Control device 18 Observation Module 20 Mobile Module 22 Location Awareness Module 24 Communication Module 30 Movement information acquisition unit 32 Area of ​​Responsibility Determination Department 34 Movement control unit

Claims

1. A control device in a distributed control system for mobile objects, comprising a plurality of mobile objects arranged in assigned areas that do not interfere with each other, and the plurality of mobile objects acquire position information from each other, and move so as to change assigned areas while avoiding collisions, a movement information acquisition unit that acquires a route plan of the own moving body and position information of other moving bodies; a coverage area determination unit that determines coverage areas of the own mobile body and the other mobile body based on the position information of the other mobile body; a movement control unit that determines a potential of a local area including the position of the own mobile unit based on the route plan, the potential having a higher value as the collision risk decreases, calculates a target position based on the potential of the local area and the area covered by the own mobile unit, and moves the own mobile unit to the target position; Including, repeating the acquisition by the movement information acquisition unit, the determination by the coverage area determination unit, and the determination, calculation, and movement by the movement control unit at a predetermined cycle; The movement control unit determines the potential of the local region according to a Gaussian distribution having a peak on the route plan, corrects the potential of the local region so that a value of the potential outside the area covered by the own mobile body becomes smaller, and calculates, as the target position, a position where the potential of the local region after correction is maximum. Control device.

2. The control device according to claim 1 , wherein the movement information acquisition unit acquires position information of the other mobile object from a sensor of the own mobile object.

3. 3. The control device according to claim 1, wherein the area of ​​responsibility is a Voronoi area surrounded by perpendicular bisectors between the moving objects.

4. Computer, Operated as a control device according to any one of claims 1 to 3 Distributed control program for mobile objects.

5. The control device according to any one of claims 1 to 3. A mobile body comprising:

Images