Relative Coordinate Motion Control for Disturbance-Resilient Moving Bodies
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Solution Overview
Problem
Existing technologies fail to appropriately control the moving direction of a moving body, particularly when the direction or posture is changed due to disturbances like wind, and semi-automatic operations require complex instructions for obstacle avoidance.
Innovation Solution
An information processing device that acquires instruction information from an operator, transforms the moving direction into a relative coordinate system based on the surrounding environment and the moving body's relative position, and controls the moving direction accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a moving body is controlled to move to a set waypoint while autonomously avoiding obstacles, then the moving body can navigate autonomously, but the moving direction cannot be controlled appropriately when disturbed by external factors like wind
Solution Approach 1:
The control unit continuously acquires information about the moving body's current position and orientation, compares it with the target position and desired orientation, and adjusts the moving direction in real-time to compensate for disturbances. This feedback mechanism ensures that the moving body maintains accurate directional control despite external factors like wind.
Solution Approach 2:
The system dynamically adjusts control parameters such as speed, acceleration, and steering angle based on the detected disturbance magnitude and direction. By changing these parameters in response to environmental conditions, the moving body can maintain its intended moving direction even when subjected to external forces.
2Ease of operation
If semi-automatic operation is used for obstacle avoidance, then the operator can control the moving body, but the instruction process becomes complex requiring multiple steps
Solution Approach 1:
The acquisition unit is designed to accept multiple types of input information (position coordinates, direction angles, or natural language instructions) through a unified interface. This multi-functional capability allows the operator to issue simple instructions regardless of the specific operation mode, reducing the perceived complexity while maintaining flexible control capabilities.
Solution Approach 2:
The control unit acts as an intermediary that translates simplified operator instructions into detailed control commands. When the operator provides high-level instructions, the control unit automatically generates the necessary low-level commands for obstacle avoidance and navigation, shielding the operator from complex operational details.
Data Source
AI summary
An information processing device (100) includes an acquisition unit (151) that acquires instruction information including an instruction from an operator on a moving direction for a moving body, a transformation unit (154) that transforms the moving direction included in the instruction information acquired by the acquisition unit (151) into a moving direction in a relative coordinate system based on a reference position, which is determined according to a surrounding environment of the moving body, and a relative position of the moving body, and a control unit (156) that controls a moving direction of the moving body on the basis of the moving direction transformed by the transformation unit (154).