Information processing device, system, control device, information processing method, and computer-readable recording medium

Abstract

This information processing device comprises: a conversion unit that, in a first motion model used by a first moving body, which serves as a leader that controls the operation of a formation composed of a plurality of moving bodies, changes a constraint on the curvature of the first motion model on the basis of the utilization of the curvature in the first motion model, and converts the first motion model into a second motion model; and a generation unit that, on the basis of the second motion model and first path information indicating the path along which the first moving body moves, generates control information that is used for controlling the operation of the first moving body for the purpose of moving the formation while maintaining the relative distance and relative angle between the moving bodies of the first moving body and a second moving body serving as one or more followers other than the first moving body.

Description

Information Processing Apparatus, System, Control Apparatus, Information Processing Method, and Computer-Readable Recording Medium

[0001] The present disclosure relates to an information processing apparatus, a system, a control apparatus, and an information processing method for controlling a plurality of moving bodies, and further relates to a computer-readable recording medium recording a program for realizing these.

[0002] When moving a plurality of moving bodies in cooperation (when moving in formation), leader-follower control for moving while maintaining the formation is known. In leader-follower control, a moving body serving as a leader (which may hereinafter be referred to as a leader) pulls one or more moving bodies serving as followers (which may hereinafter be referred to as followers).

[0003] As related technologies, Non-Patent Documents 1 and 2 disclose leader-follower control in which a follower follows a leader by maintaining the relative distance and relative angle between the leader and follower moving bodies. Non-Patent Document 1 discloses a method of controlling a follower using the Backstepping method. Further, Non-Patent Document 2 discloses a method of controlling a follower using Sliding Mode control.

[0004] Xiaohai Li, Jizong Xiao and Zijun Cai, "Backstepping based multiple mobile robots formation control", 2005 IEEE / RSJ International Conference on Intelligent Robots and Systems, Edmonton, AB, Canada, 2005, pp. 887-892, doi: 10.1109 / IROS.2005.1545161,[Searched on August 21, 2023], Internet <URL: https: / / ieeexplore.ieee.org / document / <1545161>

[0005] N. Soltani, A. Shahmansoorian and M. A. Khosravi, "Robust distance - angle leader - follower formation control of non - holonomic mobile robots," 2014 Second RSI / ISM International Conference on Robotics and Mechatronics (ICRoM), Tehran, Iran, 2014, pp. 024 - 028, doi: 10.1109 / ICRoM.2014.6990771, [Retrieved on August 21, 2023], Internet <URL: https: / / ieeexplore.ieee.org / abstract / document / <6990771>

[0006] However, in the leader - follower control disclosed in Non - Patent Documents 1 and 2, since a method of maintaining the relative distance and relative angle between the leader and the follower mobile bodies is adopted, there are cases where the follower cannot follow the leader due to the operation of the leader, that is, there are cases where the formation cannot be maintained.

[0007] An example of the object of the present disclosure is to maintain the formation in leader - follower control that adopts a method of maintaining the relative distance and relative angle between the leader and the follower mobile bodies.

[0008] To achieve the above object, an information processing apparatus according to an aspect of the present disclosure includes: a conversion unit that changes a constraint on the curvature of the first motion model and converts the first motion model into a second motion model in a first motion model used by a first mobile body that is a leader for controlling the operation of a formation composed of a plurality of mobile bodies, based on the use of the curvature in the first motion model; a generation unit that generates control information for controlling the operation of the first mobile body to move the formation while maintaining the relative distance and relative angle between the first mobile body and one or more second mobile bodies that are followers other than the first mobile body, based on first path information representing a path along which the first mobile body moves and the second motion model.

[0009] In addition, in order to achieve the above-mentioned object, a system according to one aspect of the present disclosure is a system having: a first moving body that serves as a leader controlling the operation of a formation consisting of a plurality of moving bodies; and a second moving body that serves as one or more followers other than the first moving body, wherein the first moving body is characterized by having: a conversion unit that, in a first moving body used by the first moving body, changes constraints on the curvature of the first moving body based on the use of curvature in the first moving model, and converts the first moving model into a second moving model; a generation unit that generates control information used to control the operation of the first moving body, based on first route information representing the route the first moving body will take and the second moving model, to move the formation while maintaining the relative distance and relative angle between the first moving body and the second moving body; and a control unit that controls a moving means for moving the first moving body based on the control information, and further transmits instructions including the control information to the second moving body via a communication means.

[0010] In addition, in order to achieve the above object, a control device in one aspect of the present disclosure is characterized in that, in a system in which a follower follows the movement of a leader, it identifies the number of times a function representing the curvature of the movement path of the leader in a section of the movement path in which the follower cannot follow the movement of the leader is differentiable, determines a path that passes through the end points of the section using a function that is differentiable a number of times greater than the identified number, and controls the movement of the leader to operate along the determined path.

[0011] In addition, in order to achieve the above object, a control device in one aspect of the present disclosure is characterized in that, in a system in which followers follow the movement of a leader, a path is determined using a zero-times differentiable function that passes through a point on the movement path of the leader at which the followers cannot follow the movement of the leader, and the movement of the leader is controlled to operate along the determined path.

[0012] In addition, to achieve the above-mentioned object, an information processing method according to one aspect of the present disclosure is characterized in that an information processing device mounted on a first moving body that serves as a leader controlling the operation of a formation consisting of multiple moving bodies, modifies constraints on the curvature of a first moving body used by the first moving body that serves as a leader controlling the operation of the formation consisting of multiple moving bodies based on the use of curvature in the first moving body, and converts the first moving body into a second moving model, and generates control information to be used to control the operation of the first moving body, based on first path information representing the path along which the first moving body will move and the second moving body that will be one or more followers other than the first moving body, in order to move the formation while maintaining the relative distance and relative angle between the first moving body and one or more second moving bodies that are followers other than the first moving body.

[0013] Furthermore, in order to achieve the above-mentioned object, a computer-readable recording medium according to one aspect of the present disclosure is characterized in that it records a program including instructions on a computer mounted on a first moving body that serves as a leader controlling the operation of a formation consisting of multiple moving bodies, to change constraints on the curvature of a first moving body based on the use of curvature in the first moving body in a first moving body used by the first moving body that serves as a leader controlling the operation of the formation consisting of multiple moving bodies, and convert the first moving body into a second moving model, and to generate control information used to control the operation of the first moving body based on first path information representing the path along which the first moving body will move and the second moving body, so as to move the formation while maintaining the relative distance and relative angle between the first moving body and one or more second moving bodies that serve as followers other than the first moving body.

[0014] As described above, according to the present disclosure, formation can be maintained using leader-follower control that employs a method for maintaining the relative distance and relative angle between the leader and follower moving bodies.

[0015] FIG. 1 is a diagram illustrating an example of an information processing device mounted on a moving body that serves as a leader. FIG. 2 is a diagram illustrating an example of a system having an information processing device mounted on a leader. FIG. 3 is a diagram illustrating a vector of a moving body. FIG. 4 is a diagram illustrating movement of a formation. FIG. 5 is a diagram illustrating a feedback control formula. FIG. 6 is a diagram illustrating the trajectories of a leader and a follower before and after application of Example 1. FIG. 7 is a diagram illustrating the trajectories of a leader and a follower before and after application of Example 2. FIG. 8 is a diagram illustrating an example of the operation of the information processing device mounted on a leader. FIG. 9 is a block diagram illustrating an example of a computer that realizes the information processing device in an embodiment.

[0016] First, an overview will be provided to facilitate understanding of the embodiments described below. Leader-follower control is a control method in which a leader mobile object pulls one or more follower mobile objects. In leader-follower control, followers with lower performance than the leader are controlled by instructions from the leader with higher performance.

[0017] The leader (a mobile object pulling the followers) has the function of detecting obstacles and calculating its own position based on measurement data obtained using, for example, an infrared sensor mounted on the mobile object, a GPS (Global Positioning System), etc. The leader also has the function of determining the need to avoid obstacles, confirming its own position, and calculating the difference from the route. Furthermore, the leader sends instructions to the followers using a communication device.

[0018] A follower (a mobile object that follows the leader) receives instructions from the leader using a communication device and controls its own operation based on the received instructions. For example, if the follower receives an instruction from the leader to avoid an obstacle, the follower performs an operation to avoid the obstacle. Therefore, the follower can avoid the obstacle based on the instruction from the leader even if the follower does not have a function to detect the obstacle.

[0019] In this way, in leader-follower control, it is not necessary to make all mobile units perform at high performance, but it is sufficient to make only some mobile units (leaders) perform at high performance, thereby reducing costs.

[0020] Next, among the leader-follower control methods for moving bodies in formation, there are the following methods (1), (2), and (3): (1) A method in which the formation moves while maintaining the relative distance between the leader and follower moving bodies. (2) A method in which the follower moves so as to trace the path traveled by the leader. (3) A method in which the formation moves while maintaining the relative distance and relative angle between the leader and follower moving bodies.

[0021] The difference between method (3) and methods (1) and (2) is that the angle (orientation) of the follower as seen from the leader is maintained. Therefore, in method (3), even if the communication device mounted on the leader has directionality (when the angle (orientation) at which communication is possible is limited), the angle (orientation) is maintained, so communication between the leader and follower can be maintained.

[0022] However, in the method (3), depending on the leader's actions, the formation may not be maintained no matter how the followers are controlled. Specifically, the followers must maintain the same relative angle with the leader when the leader starts and finishes turning, so they must turn at a sharp angle.

[0023] However, the followers cannot turn beyond their actual turning capabilities. Therefore, depending on the leader's actions, situations may arise where the followers cannot be controlled (where the relative angle with the leader cannot be maintained), and this can lead to situations where the formation cannot be maintained strictly. This can result in situations where communication between the leader and followers cannot be maintained.

[0024] Through this process, the inventor discovered a problem that the above-mentioned method, which employs leader-follower control to maintain the relative distance and relative angle between the leader and follower moving bodies, may not be able to maintain the formation, and he also came up with a means to solve this problem.

[0025] In other words, the inventor has derived a means for maintaining the formation precisely even in leader-follower control, which employs a method for maintaining the relative distance and angle between the leader and follower moving bodies. As a result, the formation can be maintained precisely because the leader's actions do not cause situations in which the follower cannot be controlled.

[0026] Hereinafter, embodiments will be described with reference to the drawings. In the drawings described below, elements having the same or corresponding functions are denoted by the same reference numerals, and repeated description thereof may be omitted.

[0027] (Embodiment) The configuration of an information processing device mounted on a mobile body that serves as a leader in an embodiment will be described using Fig. 1. Fig. 1 is a diagram for explaining an example of an information processing device mounted on a mobile body that serves as a leader.

[0028] The information processing device 10 mounted on the leader 20a shown in Fig. 1 controls operations to strictly maintain the formation in leader-follower control that employs a method for maintaining the relative distance and relative angle between the leader and follower moving bodies. Also, as shown in Fig. 1, the information processing device 10 has a conversion unit 11 and a generation unit 12.

[0029] The conversion unit 11 converts the first motion model into a second motion model by changing the constraints on the curvature of the first motion model based on the use of curvature in the first motion model used by the leader 20a (first moving body) that controls the movement of the formation made up of multiple moving bodies 20. Note that the first motion model is stored in, for example, the conversion unit 11 or a storage unit (not shown) provided in the information processing device 10.

[0030] The generation unit 12 generates control information used to control the operation of the leader 20a to move the formation while maintaining the relative distance and relative angle between the leader 20a and one or more followers 20b, 20c (second moving bodies) other than the leader 20a, based on first path information representing the path along which the leader 20a will move and a second motion model. Note that the number of followers may be one or more.

[0031] In this way, in the embodiment, the leader's operation is controlled using control information generated based on the leader's route information and the second motion model, so that the formation can move while maintaining the relative distance and relative angle between the leader and follower moving bodies.

[0032] [System Configuration] The configuration of the information processing device 10 mounted on the reader 20a in the embodiment will be described in more detail with reference to Fig. 2. Fig. 2 is a diagram for explaining an example of a system having an information processing device mounted on a reader.

[0033] The system 100 includes a plurality of mobile bodies 20 (a leader 20 a, followers 20 b, and 20 c) that form a formation. The mobile bodies 20 (the leader 20 a, followers 20 b, and 20 c) are, for example, mobile robots, automated guided vehicles, autonomous vehicles, autonomous flying bodies, and autonomous ships.

[0034] Regarding the configuration of the leader The leader 20a (first moving body) has an information processing device 10, a communication unit 21, a sensor unit 22, and a moving unit 23. In the system 100, the leader 20a pulls and moves the followers 20b and 20c while maintaining the relative distance and relative angle between the leader 20a and each of the moving bodies of the followers 20b and 20c.

[0035] The information processing device 10 is, for example, an information processing device such as a CPU (Central Processing Unit), a programmable device such as an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), or a circuit equipped with one or more of these.

[0036] The communication unit 21 communicates with the communication unit 21 of the other mobile objects 20. Specifically, the communication unit 21 of the leader 20a communicates with the communication units 21 of the followers 20b and 20c.

[0037] The sensor unit 22 is a sensor that detects the state of the mobile body 20, objects on the moving path, etc. Specifically, the sensor unit 22 has one or more of a radar, an ultrasonic sensor, an imaging device, a gyro, an encoder, an infrared sensor, a GPS (Global Positioning System), etc.

[0038] The moving unit 23 is a device for moving the moving body 20. Specifically, when the moving body 20 is an automated guided vehicle, an electric vehicle, or the like, the moving unit 23 is means used to move the vehicle, such as a motor, wheels (or crawlers), a battery, or the like.

[0039] Regarding the Configuration of the Follower Each of the followers 20b and 20c (second moving body) has a communication unit 21, a sensor unit 22, a moving unit 23, and a control unit 24.

[0040] The control unit 24 controls the moving unit 23. Specifically, based on an instruction (control information for controlling the followers) received from the leader 20a, the control unit 24 controls the moving unit 23 so that the leader 20a and the followers 20b and 20c can follow the leader 20a while maintaining the relative distance and relative angle between the moving bodies.

[0041] Information Processing Apparatus The information processing apparatus 10 includes an acquisition unit 13, a conversion unit 11, a generation unit 12, and a control unit 14. In the following description, it is assumed that the movement model of the leader 20a and the followers 20b and 20c is the same.

[0042] The acquisition unit 13 acquires first route information representing a route along which the reader 20a will travel, via a network, from a terminal device, a server computer, a database, or the like (not shown in Fig. 2) used by a user. The first route information includes information representing, for example, a destination position, passing points (waypoints), etc. In addition to the first route information, the acquisition unit 13 also acquires information necessary for moving the reader 20a.

[0043] In addition to the case where the user sets the route information of the reader 20a, the user may also directly operate the reader 20a in real time. In this case, the user determines the direction of travel of the reader 20a using a controller or the like. The controller transmits information for operating the reader 20a to the reader 20a via a communication network. The information for operating the reader 20a is received by the communication unit 21 and output to the acquisition unit 13.

[0044] The conversion unit 11 first determines how curvature is used in the first motion model used by the reader 20a. That is, the conversion unit 11 determines whether curvature can be defined in the first motion model, and if so, how many times it can be differentiated.

[0045] Here, being able to define curvature means that the degree of curvature of a moving object can be mapped onto a circle with a certain radius. For example, if the way a moving object turns at a certain time coincides with the movement of the object turning on a circumference of a circle with a radius R, the curvature is given by 1 / R (i.e., the curvature can be defined). On the other hand, if the moving object turns at a right angle, this turning clearly does not coincide with the movement of the object turning on a circumference, and therefore the curvature cannot be defined.

[0046] In the motion model of a moving object, the curvature cannot be defined for those that can take a trajectory like a polygonal line, but the curvature can be defined for those that cannot take a trajectory like a polygonal line.

[0047] The determination of whether a function f is differentiable may be performed by the following process. The determination of whether a function f is differentiable (single time) at a point X can be realized, for example, by a process of determining whether the value of Equation 1 is uniquely determined. If the function f is differentiable (single time) at a point X, the value of the (first-order) derivative at the point X can be defined as Equation 2.

[0048]

[0049]

[0050] Determining whether a function f is differentiable n times at a point X can be realized by determining whether the value of Equation 3 is uniquely determined for the (n-1)th derivative of the function f.

[0051] However, the value of the n-1th order derivative at point X is defined by Equation 4 using the n-2th order derivative.

[0052]

[0053] In the first motion model, there are cases where the curvature can be defined even if it is not explicitly defined in the mathematical formula. Even if it is not explicitly defined, the curvature can be derived (or can be defined) from a definition other than the curvature.

[0054] Next, the conversion unit 11 changes the constraints on the curvature of the first motion model based on how the curvature is used in the first motion model, and generates a second motion model. That is, the conversion unit 11 virtually (software-wise) converts the first motion model into a second motion model in which the curvature constraints are one level stricter. Note that the conversion unit 11 may virtually (software-wise) convert the first motion model into a second motion model in which the curvature constraints are k levels stricter (k is a natural number greater than or equal to 1). The converted second motion model is stored, for example, in the conversion unit 11 or a storage unit (not shown) provided in the information processing device 10.

[0055] The curvature constraints for a moving body are conditions regarding the curvature extracted from the motion model of the moving body, i.e., conditions regarding whether the curvature can be defined, and if so, how many times it can be differentiated.

[0056] For example, suppose that the conditions regarding curvature are extracted from the motion model and the curvature can be defined. If the condition that curvature can be defined exists, the moving object cannot make a motion that turns at a right angle. This is because the curvature cannot be defined for a motion that turns at a right angle.

[0057] Similarly, if the condition that curvature is once differentiable holds, then the moving object cannot move in a way that causes a discontinuity in curvature, because when the curvature is discontinuous, it is not differentiable.

[0058] An example of a moving object with the constraint that curvature must be differentiable once is a moving car. To turn, the steering wheel must be turned, but it naturally takes time to turn the steering wheel to the desired degree. When the steering wheel is first turned, the car turns only slightly, but as time passes (the more the steering wheel is turned), the degree of turning becomes sharper. In other words, the degree of turning (curvature) changes continuously.

[0059] In this way, by looking at the curvature constraints, which are extracted from the motion model of the moving body, it is possible to confirm the conditions regarding the curvature of the moving body's trajectory.

[0060] Specifically, (i) if the curvature cannot be defined in the first motion model, the conversion unit 11 converts the first motion model into a model (second motion model) in which the curvature can be defined. Conversely, (ii) if the curvature can be defined in the first motion model and the curvature is differentiable n times, the conversion unit 11 converts it into a model (second motion model) that is differentiable n+1 times, where n is a natural number equal to or greater than 1.

[0061] In this case, the above-described process can also be expressed as follows, for example. In a system in which followers follow the movement of a leader, the conversion unit 11 identifies the number of times a function representing the curvature of the movement path of the leader in a section of the movement path in which the followers cannot follow the movement of the leader is differentiable. Next, the generation unit 12 determines a path using a function that passes through the endpoints of the section and is differentiable a number of times greater than the identified number. Then, the control unit 14 controls the movement of the leader so that it operates along the path determined by the generation unit 12.

[0062] However, there are cases where the curvature of the leader's movement path cannot be defined in sections where the followers cannot follow the leader's movement. In such cases, the above-described process can also be expressed, for example, as follows: In a system in which followers follow the leader's movement, the generation unit 12 determines a path using a zero-times differentiable function that passes through a point in the leader's movement path where the leader changes direction. Then, the control unit 14 controls the movement of the leader so that it operates along the path determined by the generation unit 12.

[0063] Curvature is an index that indicates the degree of curvature of a curve at a certain point on the curve. In the case of the moving body 20, this curve corresponds to the path of the moving body 20. In other words, curvature is an index that indicates the degree of curvature of the moving body 20 while it is passing through a certain point. The curvature of the moving body 20 at a certain time t can be expressed as in Equation 5.

[0064]

[0065] 3 is a diagram for explaining the vectors of the moving body. In Equation 5, v represents the velocity vector of the moving body 20, and β represents the acceleration component (vector) of the moving body 20 that is perpendicular to the velocity vector. Note that p in FIG. 3 represents the center point (the position of the moving body 20), and α in FIG. 3 represents the acceleration vector.

[0066] Next, the conversion unit 11 converts the (actual) state in the first motion model into a (virtual) state corresponding to the second motion model, and stores the converted (virtual) state in a storage device (not shown). The storage device may be provided in the conversion unit 11 or may be provided outside the conversion unit 11.

[0067] The state is information that indicates, for example, the current position, speed, etc. of the reader 20a. Specifically, the state is a variable in the motion model and is determined depending on the motion model. Depending on the motion model, the state may include information such as acceleration, angular velocity, etc. in addition to position and speed.

[0068] The generation unit 12 first generates control information corresponding to the second motion model based on the first route information, the second motion model, and the current state corresponding to the second motion model.

[0069] The control information is generated using methods such as feedback control and a dynamic window approach.

[0070] Next, the generation unit 12 converts the control information corresponding to the second motion model into control information corresponding to the first motion model. For example, there may be cases where the control information in the first motion model is speed, while the control information in the second motion model is acceleration. In such a case, since the actual motion model is the first motion model, the acceleration, which is the control information corresponding to the second motion model, has a different value from the speed, which is the actual control information, and cannot be directly used as the control information for the actual motion model. Therefore, the control information is converted into control information corresponding to the actual motion model (first motion model).

[0071] The control information can be converted by creating simultaneous equations using the first motion model and the second motion model, and calculating the control input according to a mathematical expression that is connected to the control information of the first motion model by an equation.

[0072] Next, the generator 12 updates the state (virtual state) corresponding to the second motion model stored in the storage device based on the control information corresponding to the second motion model. Specifically, the generator 12 virtually controls (simulates) the virtual reader 20a using the second motion model, and sets the obtained state as a new state corresponding to the second motion model.

[0073] The control unit 14 controls the movement unit 23 based on the control information calculated by the generation unit 12. For example, the control unit 14 controls the rotation of a motor provided in the movement unit 23. The control unit 14 also transmits instructions including the control information used by the leader to each of the followers 20b and 20c via the communication unit 21.

[0074] The followers 20b and 20c receive the instructions, and based on the leader's control information, calculate their own control information using the control units 24 that they each have so as to maintain the relative distance and angle with the leader 20a, and move based on the calculated control information.

[0075] The control information for each of the followers 20b and 20c can be calculated using the method described in Non-Patent Document 1 or Non-Patent Document 2, for example.

[0076] The reason why the formation can move precisely will now be explained. FIG. 4 is a diagram for explaining the movement of the formation. The leader 20a in FIG. 4 is shown heading in the direction of the velocity vector v and moving at a velocity ||v||. ||v|| represents the 2-norm. The follower 20b moves from the position p of the leader 20a at a relative angle φ with the velocity vector v of the leader 20a. ｌ The follower 20b is located at a relative distance l (dashed line) from the ｆ can be expressed as in Equation 6.

[0077]

[0078] p in number 6 ｌ represents the position of the reader 20a, v / ∥v∥ in Equation 6 is a unit vector (vector with magnitude 1) representing the orientation of the reader 20a, and M in Equation 6 represents a rotation matrix of angle φ.

[0079] Next, to obtain control information for the follower 20b to maintain the formation, at least p ｆ It is necessary to define the differential value of v / ||v||, i.e., the velocity of follower 20b. Furthermore, the differential value of v / ||v|| in Equation 6 above is equal to Equation 5. In other words, it can be said that the differential value of v / ||v|| is equal to the curvature. Therefore, if the curvature can be defined, the differential of Equation 6 can be defined as in Equation 7, and the velocity (vector) of follower 20b can be defined.

[0080] However, depending on the motion model, the acceleration of the follower 20b may be required to obtain control information. ｆ It is necessary to define the second derivative of v / ||v||, i.e., the acceleration of follower 20b. It can be said that the second derivative of v / ||v|| is equal to the derivative of curvature. Therefore, if the derivative of curvature can be defined, the second derivative of equation 8 can be defined, and the acceleration (vector) of follower 20b can be defined. However, in equation 8, α represents acceleration, and k' represents the derivative of curvature.

[0081]

[0082] Thus, whether or not the curvature can be defined in the movement model of the leader 20a, or how many times the curvature can be differentiated, is important for the control (formation maintenance) of the follower 20b.

[0083] Next, we consider the simplest control model, a motion model in which velocity is the control information. The motion model is called a first-order holonomic model and can be expressed as in Equation 9. Note that u in Equation 9 represents the control information.

[0084]

[0085] In the motion model of Equation 9, the moving object 20 can bend at a right angle or like a broken line. However, it is not possible to define curvature in Equation 9. The value of curvature is calculated by fitting the degree of bending to a circle, so curvature cannot be defined for broken lines, etc.

[0086] In the motion model of Equation 9, it is necessary to be able to define the curvature in order to define the velocity of the follower 20b. That is, by converting into a motion model that is one step stricter in terms of curvature as described above in the conversion unit 11, control information for the follower 20b can be obtained, making it possible to maintain the formation.

[0087] There is also a motion model that is more complicated than the first-order holonomic model, in which acceleration serves as control information. This motion model is called a second-order nonholonomic model, and can be expressed as follows:

[0088]

[0089] In the motion model of Equation 10, the curvature can be defined because the acceleration is defined, but the curvature is not differentiable. In other words, the curvature is zero-times differentiable. In the motion model of Equation 10, in order to control the follower 20b, i.e., to define the acceleration, it is sufficient that the curvature of the motion model of the leader 20a can be differentiated once, as described above. Therefore, by converting to a motion model that is one step stricter in terms of curvature, as described above, control information for the follower 20b can be obtained, and it becomes possible to maintain the formation.

[0090] Example 1 The first embodiment will be described using Example 1. First, in Example 1, the first motion model corresponding to the leader and follower is a first-order holonomic model.

[0091] First, the acquisition unit 13 acquires first route information having waypoints (0, 10) and (10, 15) as a target state. The first route information represents a route from the current position (0, 0) to the waypoint (0, 10) and arrives at the waypoint (10, 15) (destination point).

[0092] Next, the conversion unit 11 converts the first movement model of the leader into a second movement model that is one step stricter in terms of curvature. Since the curvature is not defined in the first-order holonomic model, the conversion unit 11 converts the first-order holonomic model into the second movement model that is also a first-order holonomic model and in which the curvature can be defined. The second movement model is called a first-order nonholonomic model and can be expressed as in Equation 11.

[0093]

[0094] In addition, θ in Equation 11 represents the direction of the reader, and v in Equation 11 ｕ represents the straight-line speed, and w in Equation 11 ｕ represents the angular velocity.

[0095] A first-order nonholonomic model is known as a model that represents the motion of, for example, a small robot with two tires aligned on the left and right. When controlling the motion of a robot using a first-order nonholonomic model, it is actually necessary to control the rotation speed of the left and right tires.

[0096] However, since it is difficult to handle as a motion model, the first-order nonholonomic model is a model that can be handled more easily by using the average value of the rotation speed of the left and right tires as the straight-line speed and associating the difference in the rotation speed of the left and right tires with the angular velocity. In the first-order nonholonomic model, the curvature of the moving body is w ｕ / v ｕ Since it is equal to, the curvature can be defined.

[0097] The conversion unit 11 converts the first motion model into the second motion model in software terms without physically modifying the first motion model, and also stores a virtual state corresponding to the second motion model.

[0098] Next, the generator 12 generates control information based on the second motion model (Equation 11) and the first path information (target state). The control information may be generated using, for example, feedback control. It is known that Equation 12 is used as a feedback control formula for a first-order nonholonomic model.

[0099]

[0100] (x) in number 12 ｄ , y ｄ ) represents the target coordinates. In the feedback control formula of Equation 12, the linear velocity is controlled so as to reduce the deviation between the current position of the moving body and the target coordinates in the direction of its orientation, and the angular velocity is controlled so that the orientation of the moving body faces the target coordinates. An example of control information in Equation 12 is shown in FIG. 5. FIG. 5 is a diagram for explaining the feedback control formula.

[0101] Next, the generation unit 12 converts the control information in the second motion model into control information in the first motion model (motion model of the actual leader). In the conversion of the control information, the first motion model (Equation 9), the second motion model (Equation 11), and the feedback control equation (Equation 12) are used to generate control information u (Equation 13) of the first motion model.

[0102]

[0103] Specifically, first, the first motion model (Equation 9) and the second motion model (Equation 11) are used to transform the equation into Equation 14. Next, v in Equation 14 is ｕ By substituting the right side of equation 12 into equation 13 (actual leader motion model), equation 13 can be obtained.

[0104]

[0105] Next, the generator 12 generates control information V corresponding to the second motion model of Equation 12. ｕ , w ｕThe virtual state stored in the storage device is updated based on the above. This update changes the orientation θ of the virtual moving body 20, and the direction of the velocity vector also changes as control information u of the first motion model (actual motion model).

[0106] Next, the control unit 14 uses the control information to control the motor of the movement unit 23 provided in the reader to move the reader. The control unit 14 also transmits instructions including the control information u to the follower via the communication unit 21.

[0107] The effects of Example 1 will be described. The effects of Example 1 will be described using Fig. 6. Fig. 6 is a diagram for explaining the trajectories of the leader and follower before and after application of Example 1. Fig. 6 also shows an example in which the relative distance between the leader and follower moving bodies is set to 1 = 2 and the relative angle is set to φ = (3 / 4)π.

[0108] Fig. 6A shows the trajectory of the leader (solid line) and the trajectory of the follower (dotted line) before the application of Example 1. Fig. 6B shows the trajectory of the leader (solid line) and the trajectory of the follower (dotted line) after the application of Example 1.

[0109] In Figure 6A, Example 1 is not applied (conversion to the second motion model is not performed), so the leader travels straight from the current position (0,0) to waypoint (0,10), turns around at waypoint (0,10), and travels straight from waypoint (0,10) to waypoint (10,15). As a result, the follower becomes uncontrollable near waypoint (0,10), and the follower's trajectory becomes discontinuous (the dashed line is broken). In other words, the formation cannot be maintained near waypoint (0,10).

[0110] In contrast, in Figure 6B, since Example 1 is applied (conversion to the second motion model is performed), the leader moves from waypoint (10, 15) to waypoint (10, 15) while tracing a curve. Therefore, the follower can be controlled, and the follower's trajectory is also continuous. If the follower's trajectory is continuous, it is possible to realize a follower with a motion model expressed by Equation 9. In other words, the formation can be maintained.

[0111] Example 2 The first embodiment will be described using Example 2. First, in Example 2, the first motion model corresponding to the leader and follower is a first-order nonholonomic model.

[0112] First, the acquisition unit 13 acquires first route information having waypoints (0, 10) and (20, 11) as a target state. The first route information represents a route from the current position (0, 0) to the waypoint (20, 11) (destination point) via the waypoint (0, 10).

[0113] Next, the conversion unit 11 converts the first movement model of the leader into a second movement model that is one step stricter in terms of curvature. Since the first-order nonholonomic model is a movement model in which the curvature is zero-order differentiable, the first-order nonholonomic model is converted into a second movement model that is also a first-order nonholonomic model in which the curvature is first-order differentiable. This is called a first-order nonholonomic model and can be expressed as in Equation 15.

[0114]

[0115] In Equation 15, k represents the curvature, and γ ｕ represents control information for controlling the rate of change of the curvature. Note that Equation 16 was used for conversion from the first motion model to the second motion model.

[0116]

[0117] Incidentally, known representative motion models for a moving object include a first-order holonomic model, a second-order holonomic model, a first-order nonholonomic model, and a second-order nonholonomic model.

[0118] When converting from a first motion model to a second motion model, the n-th order holonomic model may be converted into an n-th order nonholonomic model.

[0119] The nth-order nonholonomic model can be converted using the equation relating to curvature (Equation 16), the equation in which the nth derivative of the curvature is controlled by control information (Equation 17), and the first motion model to obtain the second motion model.

[0120]

[0121] The generator 12 calculates control information based on the second motion model (Equation 15) and the first path information (target state). For the control of Equation 15, for example, a dynamic window approach may be used. For details about the dynamic window approach, see Reference [1].

[0122] Reference [1]: D. Fox, W. Burgard and S. Thrun, "The dynamic window approach to collision avoidance," in IEEE Robotics & Automation Magazine, vol. 4, no. 1, pp. 23-33, March 1997, doi: 10.1109 / 100.580977.

[0123] The dynamic window approach is proposed in reference [1] as a control method for a second-order nonholonomic model, but with simple modifications it can be used to control various nonholonomic models, such as the motion model of Equation 15.

[0124] In the conversion of the first motion model into control information, the linear velocity input is left as is, and the angular velocity input is converted according to Equation 18.

[0125]

[0126] Next, the control unit 14 uses the control information to control the motor of the movement unit 23 provided in the reader to move the reader. The control unit 14 also transmits instructions including the control information u to the follower via the communication unit 21.

[0127] The effect of Example 2 will be described. The effect of Example 2 will be described using Fig. 7. Fig. 7 is a diagram for explaining the trajectories of the leader and follower before and after application of Example 2. Fig. 7 also shows an example in which the relative distance between the leader and follower moving bodies is set to 1 = 3 and the relative angle is set to φ = (9 / 10)π.

[0128] Fig. 7A shows a leader trajectory 70a and a follower trajectory 70b before application of Example 2. Fig. 7B shows a leader trajectory 70c and a follower trajectory 70d after application of Example 2.

[0129] In Figure 7A, since Example 2 is not applied (conversion to the second motion model is not performed), the leader moves straight from the current position (0,0) to waypoint (0,10), as shown by trajectory 70a. Then, the leader moves in a curved line from waypoint (0,10) to waypoint (10,11). Furthermore, since Example 2 is not applied to the follower (conversion to the second motion model is not performed), the follower's trajectory 70b is not smooth in the curved range 70 of the trajectory 70b near waypoint (0,10). In other words, the formation cannot be maintained.

[0130] In contrast, in FIG. 7B, since Example 2 is applied (conversion to the second motion model is performed), the leader moves while tracing a curved line like trajectory 70c. As the leader's trajectory becomes trajectory 70c, trajectory 70b becomes trajectory 70d, and the follower can be controlled, so it becomes smooth like follower trajectory 70d. If the follower's trajectory is smooth like trajectory 70d, it is possible to realize a follower with a motion model expressed by equation 11. In other words, the formation can be maintained.

[0131] [Device Operation] Next, the operation of the information processing device in the embodiment will be described with reference to FIG. 8. FIG. 8 is a diagram for explaining an example of the operation of the information processing device mounted on a reader. In the following description, the diagram will be referenced as appropriate. Also, in the embodiment, an information processing method is implemented by operating the information processing device. Therefore, the description of the information processing method in the embodiment will be replaced with the description of the operation of the information processing device below.

[0132] As shown in Figure 8, the acquisition unit 13 first acquires first route information representing the route traveled by the reader 20a via a network from a terminal device, server computer, database, etc. used by the user (not shown in Figure 2) (step A1).

[0133] Next, the conversion unit 11 changes the constraints on the curvature of the first motion model used by the leader 20a (first moving body) that controls the movement of the formation consisting of multiple moving bodies 20, based on the use of curvature in the first motion model, and converts the first motion model into a second motion model (step A2).

[0134] Specifically, in step A2, the conversion unit 11 first determines what kind of curvature is used in the first motion model used by the reader 20a. That is, the conversion unit 11 determines whether or not the curvature can be defined in the first motion model, and if so, how many times the curvature can be differentiated.

[0135] Next, in step A2, the conversion unit 11 changes the constraints on the curvature of the first motion model based on how the curvature is used in the first motion model, and generates a second motion model. That is, the conversion unit 11 converts the first motion model into a model with one-level stricter curvature constraints.

[0136] Next, in step A2, the conversion unit 11 converts the (actual) state in the first motion model into a state (virtual state) corresponding to the second motion model, and stores the converted state in a storage device (not shown). The storage device may be provided in the conversion unit 11 or may be provided externally to the conversion unit 11.

[0137] Next, the generation unit 12 generates control information to be used to control the operation of the leader 20a to move the formation while maintaining the relative distance and relative angle between the leader 20a and one or more followers 20b, 20c (second moving bodies) other than the leader 20a, based on first path information representing the path along which the leader 20a will move and the second motion model (step A3).

[0138] Specifically, in step A3, the generation unit 12 first generates control information corresponding to the second motion model based on the first route information, the second motion model, and the current state corresponding to the second motion model.

[0139] Next, in step A3, the generator 12 converts the control information corresponding to the second motion model into control information corresponding to the first motion model.

[0140] Next, in step A3, the generator 12 updates the state (virtual state) corresponding to the second motion model stored in the storage device based on the control information corresponding to the second motion model.

[0141] Next, the control unit 14 controls the movement unit 23 based on the control information calculated by the generation unit 12. For example, the control unit 14 controls the rotation of a motor provided in the movement unit 23 (step A4).

[0142] Next, the control unit 14 transmits instructions including the control information used by the leader to each of the followers 20b and 20c via the communication unit 21 (step A5).

[0143] In this way, the information processing device 10 repeatedly executes the processes of steps A1 to A5 every time it acquires the first route information. Note that the order of steps A4 and A5 may be reversed.

[0144] [Effects of the embodiment] As described above, according to the embodiment, the operation of the leader is controlled using control information generated based on the leader's route information and the second motion model, so that the formation can move while maintaining the relative distance and relative angle between the leader and follower moving bodies.

[0145] Furthermore, since the formation can move while maintaining the relative distance and angle between the leader and follower mobile bodies, communication between the leader and follower can be maintained.

[0146] [Program] The program in the embodiment may be a program that causes a computer to execute steps A1 to A4 shown in Fig. 8. By installing and executing this program on a computer, the information processing device and information processing method in the embodiment can be realized. In this case, the processor of the computer functions as the acquisition unit 13, conversion unit 11, generation unit 12, and control unit 14 and performs processing.

[0147] The program in the embodiment may be executed by a computer system constructed by a plurality of computers, in which case, for example, each computer may function as one of the acquisition unit 13, conversion unit 11, generation unit 12, and control unit 14.

[0148] [Physical Configuration] A computer that implements an information processing apparatus by executing a program in the embodiment will now be described with reference to Fig. 9. Fig. 9 is a block diagram showing an example of a computer that implements an information processing apparatus in the embodiment.

[0149] 9, the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These components are connected to each other via a bus 121 so as to be able to communicate data with each other.

[0150] Furthermore, the computer 110 may include a GPU or an FPGA in addition to or instead of the CPU 111. In this aspect, the GPU or FPGA can execute the programs in the embodiments.

[0151] The CPU 111 loads a program in the embodiment, which is composed of a group of codes and stored in the storage device 113, into the main memory 112 and executes each code in a predetermined order to perform various calculations. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory).

[0152] The program in the embodiment is provided in a state stored in a computer-readable recording medium 120. The program in the embodiment may be distributed over the Internet connected via the communication interface 117.

[0153] Specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. The input interface 114 mediates data transmission between the CPU 111 and input devices 118 such as a keyboard and a mouse. The display controller 115 is connected to a display device 119 and controls the display on the display device 119.

[0154] The data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, reads programs from the recording medium 120, and writes processing results from the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and other computers.

[0155] Specific examples of the recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as flexible disks, or optical recording media such as CD-ROMs (Compact Disk Read Only Memory).

[0156] The information processing device in the embodiment may be realized not by a computer on which a program is installed but by hardware corresponding to each unit, such as an electronic circuit. Furthermore, the information processing device may be realized in part by a program and in the remaining part by hardware. In the embodiment, the computer is not limited to the computer shown in FIG. 9.

[0157] [Supplementary Note] The following supplementary note is further disclosed regarding the above-described embodiment. Some or all of the above-described embodiment can be expressed by (Supplementary Note 1) to (Supplementary Note 17) described below, but is not limited to the following description.

[0158] (Supplementary Note 1) An information processing device having: a conversion means for converting a first motion model used by a first moving body that serves as a leader and controls the operation of a formation consisting of multiple moving bodies into a second motion model by changing constraints on the curvature of the first motion model based on the use of curvature in the first motion model; and a generation means for generating control information used to control the operation of the first moving body, based on first route information representing the route traveled by the first moving body and the second motion model, so as to move the formation while maintaining the relative distance and relative angle between the first moving body and one or more second moving bodies that serve as followers other than the first moving body.

[0159] (Supplementary Note 2) An information processing device according to Supplementary Note 1, further comprising a control means for controlling a moving means for moving the first moving body based on the control information, and further comprising the control means for transmitting an instruction including the control information to the second moving body via a communication means.

[0160] (Supplementary Note 3) The information processing device according to Supplementary Note 1 or 2, wherein, when the curvature cannot be defined in the first motion model, the conversion means converts the change in the constraint on the curvature of the first motion model into the second motion model in which the curvature can be defined.

[0161] (Supplementary Note 4) The information processing device according to any one of Supplementary Notes 1 to 3, wherein, when the curvature can be defined in the first motion model and the curvature is differentiable n times, the conversion means converts the change in the constraint on the curvature of the first motion model into the second motion model in which the curvature is differentiable n+1 times.

[0162] (Supplementary Note 5) A system having a first moving body that serves as a leader controlling the operation of a formation consisting of a plurality of moving bodies, and a second moving body that serves as one or more followers other than the first moving body, wherein the first moving body has: a conversion means that, in a first moving body used by the first moving body, changes constraints on the curvature of the first moving body based on the use of curvature in the first moving model, and converts the first moving model into a second moving model; a generation means that generates control information used to control the operation of the first moving body, based on first route information representing the route the first moving body will take and the second moving model, so as to move the formation while maintaining the relative distance and relative angle between the first moving body and the second moving body; and a control means that controls a moving means that moves the first moving body based on the control information, and further transmits instructions including the control information to the second moving body via a communication means.

[0163] (Supplementary Note 6) The system according to Supplementary Note 5, wherein, when the curvature cannot be defined in the first motion model, the conversion means converts the change in the constraint on the curvature of the first motion model into the second motion model in which the curvature can be defined.

[0164] (Supplementary Note 7) The system described in any one of Supplementary Notes 5 to 6, wherein the conversion means converts the change in the constraint on the curvature of the first motion model into the second motion model in which the curvature is differentiable n+1 times, when the curvature can be defined in the first motion model and the curvature is differentiable n times.

[0165] (Supplementary Note 8) A control device in a system in which a follower follows the movement of a leader, which identifies the number of times a function representing the curvature of the movement path of the leader in a section of the movement path in which the follower cannot follow the movement of the leader is differentiable, determines a path that passes through an end point of the section using a function that is differentiable a number of times greater than the identified number, and controls the movement of the leader to operate along the determined path.

[0166] (Supplementary Note 9) In a system in which followers follow the movement of a leader, a control device determines a path of the leader using a zero-times differentiable function that passes through a point in the movement path of the leader where the followers cannot follow the movement of the leader, and controls the movement of the leader to operate along the determined path.

[0167] (Supplementary Note 10) An information processing method, comprising: an information processing device mounted on a first moving body that serves as a leader controlling the operation of a formation composed of a plurality of moving bodies; changing constraints on the curvature of a first moving body used by the first moving body that serves as a leader controlling the operation of the formation composed of a plurality of moving bodies based on the use of curvature in the first moving body, and converting the first moving body into a second moving model; and generating control information used to control the operation of the first moving body, based on first path information representing a path along which the first moving body will move and the second moving body that will be one or more followers other than the first moving body, to move the formation while maintaining the relative distance and relative angle between the first moving body and one or more second moving bodies that will be followers other than the first moving body.

[0168] (Supplementary Note 11) The information processing method according to Supplementary Note 10, wherein the information processing device controls the movement of the first moving body based on the control information, and further transmits an instruction including the control information to the second moving body via a communication device.

[0169] (Supplementary Note 12) The information processing method according to Supplementary Note 10 or 11, wherein, if the curvature cannot be defined in the first motion model, the change in the constraint on the curvature of the first motion model is converted to the second motion model in which the curvature can be defined.

[0170] (Supplementary Note 13) The information processing method described in any one of Supplementary Notes 10 to 12, wherein, when the curvature can be defined in the first motion model and the curvature is differentiable n times, a change in the constraint on the curvature of the first motion model is converted to the second motion model in which the curvature is differentiable n+1 times.

[0171] (Supplementary Note 14) A computer-readable recording medium having recorded thereon a program including instructions to cause a computer mounted on a first moving body that serves as a leader controlling the operation of a formation composed of multiple moving bodies to: change constraints on the curvature of a first moving body in a first moving body used by the first moving body that serves as a leader controlling the operation of the formation composed of multiple moving bodies based on the use of curvature in the first moving body, and convert the first moving body into a second moving model; and generate control information used to control the operation of the first moving body, based on first path information representing a path along which the first moving body will move and the second moving body that will be one or more followers other than the first moving body, to move the formation while maintaining the relative distance and relative angle between the first moving body and one or more second moving bodies that will be followers other than the first moving body.

[0172] (Supplementary Note 15) A computer-readable recording medium having recorded thereon the program described in Supplementary Note 14, which causes the computer to control the movement of the first moving body based on the control information, and further causes the computer to transmit instructions including the control information to the second moving body via a communication device.

[0173] (Supplementary Note 16) A computer-readable recording medium having recorded thereon the program according to Supplementary Note 14 or 15, wherein, if the curvature cannot be defined in the first motion model, the change in the constraint on the curvature of the first motion model is converted into the second motion model in which the curvature can be defined.

[0174] (Supplementary Note 17) A computer-readable recording medium having recorded thereon a program according to any one of Supplementary Notes 14 to 16, wherein, when the curvature can be defined in the first motion model and the curvature is differentiable n times, a change in the constraint on the curvature of the first motion model is converted into the second motion model in which the curvature is differentiable n+1 times.

[0175] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0176] According to the above description, the formation can be maintained in leader-follower control that employs a method for maintaining the relative distance and relative angle between the leader and follower moving bodies, and is useful in fields where leader-follower control is required.

[0177] 10 Information processing device 11 Conversion unit 12 Generation unit 13 Acquisition unit 14 Control unit 20 Mobile body 20a Leader, first mobile body 20b, 20c Follower, second mobile body 21 Communication unit 22 Sensor unit 23 Mobile unit 100 System 110 Computer 111 CPU 112 Main memory 113 Storage device 114 Input interface 115 Display controller 116 Data reader / writer 117 Communication interface 118 Input device 119 Display device 120 Recording medium 121 Bus

Claims

1. An information processing device having: a conversion means for converting a first motion model used by a first moving body that is a leader controlling the operation of a formation consisting of multiple moving bodies, into a second motion model by changing constraints on the curvature of the first motion model based on the use of curvature in the first motion model; and a generation means for generating control information used to control the operation of the first moving body, based on first route information representing the route traveled by the first moving body and the second motion model, in order to move the formation while maintaining the relative distance and relative angle between the first moving body and one or more second moving bodies that are followers other than the first moving body.

2. An information processing device as described in claim 1, further comprising a control means for controlling a moving means for moving the first moving body based on the control information, and further comprising: the control means for transmitting instructions including the control information to the second moving body via a communication means.

3. The information processing device according to claim 1, wherein, when the curvature cannot be defined in the first motion model, the conversion means converts the change in the constraint on the curvature of the first motion model into the second motion model in which the curvature can be defined.

4. The information processing device according to claim 1, wherein, when the curvature can be defined in the first motion model and the curvature is differentiable n times, the conversion means converts the change in the constraint on the curvature of the first motion model into the second motion model in which the curvature is differentiable n+1 times.

5. A system having a first moving body that is a leader controlling the operation of a formation consisting of multiple moving bodies, and a second moving body that is one or more followers other than the first moving body, wherein the first moving body has a conversion means that changes the constraints on the curvature of the first moving body based on the use of curvature in the first moving model in a first moving model used by the first moving body, and converts the first moving model into a second moving model, a generation means that generates control information used to control the operation of the first moving body to move the formation while maintaining the relative distance and relative angle between the first moving body and the second moving body, based on first route information representing the route moved by the first moving body and the second moving model, and a control means that controls a movement means that moves the first moving body based on the control information, and further transmits an instruction including the control information to the second moving body via a communication means.

6. A control device in a system in which a follower follows the movement of a leader, which identifies the number of times a function representing the curvature of the movement path of the leader in a section of the movement path of the leader where the follower cannot follow the movement of the leader is differentiable, determines a path that passes through the end points of the section using a function that is differentiable a number of times greater than the identified number, and controls the movement of the leader to operate along the determined path.

7. A control device in a system in which followers follow the movement of a leader, which determines a path using a zero-times differentiable function that passes through a point on the movement path of the leader at which the follower cannot follow the movement of the leader, and controls the movement of the leader so that it operates along the determined path.

8. An information processing method, comprising: an information processing device mounted on a first moving body that serves as a leader controlling the operation of a formation composed of multiple moving bodies, which changes a constraint on the curvature of a first moving body used by the first moving body that serves as a leader controlling the operation of the formation composed of multiple moving bodies based on the use of curvature in the first moving body, converts the first moving body into a second moving model, and generates control information used to control the operation of the first moving body to move the formation while maintaining the relative distance and relative angle between the first moving body and one or more second moving bodies that are followers other than the first moving body, based on first route information representing the route along which the first moving body moves and the second moving model.

9. A computer-readable recording medium having recorded thereon a program including instructions to cause a computer mounted on a first moving body that serves as a leader controlling the operation of a formation composed of multiple moving bodies to change the constraints on the curvature of a first moving body based on the use of curvature in the first moving body in a first moving body used by the first moving body that serves as a leader controlling the operation of the formation composed of multiple moving bodies, and convert the first moving body into a second moving model, and to generate control information used to control the operation of the first moving body based on first route information representing the route traveled by the first moving body and the second moving body that serves as one or more followers other than the first moving body, so as to move the formation while maintaining the relative distance and relative angle between the first moving body and one or more second moving bodies that are followers other than the first moving body.

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