| 摘要 |
PROBLEM TO BE SOLVED: To rapidly carry out calculation of a square root or arctangent, and calculation of a command value of a moving speed and a steering angular speed without needing to determine a traveling direction. SOLUTION: This movement control device is provided with: a position recognition device 1 of the mobile object; an information storage device 2 for storing information related to a preset moving path and the like; a calculation device 3 for calculating and commanding a moving speed and a steering angular speed based on the information from the position recognition device 1 and the information storage device 2 at every predetermined time; and a moving speed control device 4 and a steering angular speed control device 5 for controlling the moving speed and the steering angular speed based on a moving speed command and a steering angular speed command from the calculation device 3, respectively. The calculation device 3 finds an inner product and an outer product of a movement vector from a setting position P<SB>1</SB>at the present time to a setting position P<SB>2</SB>at the next time, and a movement vector from an actual position P at the present time to a setting position P<SB>2</SB>at the next time to correct the command values of the preset moving speed and steering angular speed by using them. COPYRIGHT: (C)2006,JPO&NCIPI
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