Accompanying Robot Trajectory Control for Reliable Subject Turning
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Solution Overview
Problem
Existing mobile robot control systems struggle to accurately determine the target position when the subject turns or changes direction, due to errors in detecting the subject's direction.
Innovation Solution
A mobile body control device that acquires subject information, processes it to determine an observation trajectory, matches it with basic trajectories adjusted for uncertainty, predicts the subject's future trajectory, calculates prediction reliability, and generates control commands to maintain accompaniment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If camera-based subject direction detection is used to determine target position, then the system can maintain simple detection hardware, but the detection precision deteriorates when the subject turns or changes direction
Solution Approach 1:
The system pre-acquires subject trajectory information before determining the target position. By analyzing the subject's movement trajectory in advance, the system can predict future positions more accurately, especially during turns or direction changes where camera-based detection fails. This preliminary trajectory analysis compensates for the imprecision of real-time camera detection.
2Speed
If real-time camera detection is used to track subject direction, then the system can respond quickly to current subject position, but the reliability deteriorates during subject turns or direction changes
Solution Approach 1:
The system continuously updates the trajectory prediction by incorporating new subject position measurements while maintaining the predicted trajectory. This feedback mechanism allows the system to correct prediction errors over time while maintaining continuous tracking during turns, balancing response speed with prediction reliability.
3Device complexity
If the mobile body maintains a fixed position ahead of the subject, then the control system remains simple, but the adaptability deteriorates when the subject changes walking state
Solution Approach 1:
The system dynamically adjusts the target position and trajectory based on the subject's movement characteristics. Instead of maintaining a fixed position ahead, the system calculates optimal target positions along the predicted trajectory, allowing the mobile body to adapt to various walking states including turns, stops, and speed changes while maintaining smooth control.
Data Source
AI summary
A mobile body control device includes: an observation trajectory acquisition unit that acquires, a trajectory along which the subject walks; a basic trajectory acquisition unit that acquires, a basic trajectory that matches the observation trajectory; a subject predicted trajectory acquisition unit that acquires a trajectory along which the subject walks after the current time point based on the specific basic trajectory; a prediction reliability calculation unit that calculates a prediction reliability based on uncertainty added along the subject predicted trajectory; a target trajectory acquisition unit that acquires, a trajectory formed by a target position of a mobile body set ahead of the subject in a traveling direction of the subject; and a control-command-sequence-generating unit that generates a control command sequence using an evaluation function that uses as input the subject predicted trajectory, prediction reliability, target trajectory, and a control trajectory.