| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a movement control device such that a moving body detects an obstacle in real time, avoids the obstacle and derives a moving direction with a potential function, and can exits from a stop state when entering the stop state by making change to decrease the value of a weight coefficient of a target position derivative as a function obtained by partially differentiating a continuously-differentiable function representing a level of directing the moving body toward a target position and applied to the target position.SOLUTION: An obstacle is detected in a process of moving to a target position, and a movement course of the moving body is determined based upon a total derivative so that it is determined whether or not the moving body on which the movement control device is mounted is in a stop state. When a stop determination part determines a stop state, the value of a weight coefficient of a target position derivative is decreased so as to determine a movement course of the moving body based upon the total derivative after the weight coefficient is changed.</p> |
