MOBILE OBJECT CONTROL DEVICE, MOBILE OBJECT CONTROL METHOD, AND MOBILE OBJECT CONTROL PROGRAM

摘要

[Problem] To provide a mobile object control device, a mobile object control method, and a mobile object control program for moving a mobile object (for example, a single-shaft/single-rudder vessel), the mobile object being kept in a prescribed direction of orientation. [Solution] A control means causes the mobile object to face in the direction of turbulence estimated by a turbulence-direction-estimation means, controls a propulsion-force-generation unit and a mobile-object-direction-adjustment unit such that the mobile body is not swept away by the turbulence, and causes the mobile body to stay at a fixed-point position. Every time a change means changes the fixed-point position in succession, the control means moves the mobile object to the fixed-point position thus changed. This mobile body control apparatus is thereby able to successively move the mobile object while keeping the mobile object facing in the direction of turbulence.