| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving body control method for dispensing with the previous setting of an optimum schedule waterway, and saving energy consumption within a prescribed constrained condition, so as to control a moving body to be moved along a scheduled movement course (route), and also to provide a controller. SOLUTION: A plurality of way points WP are set on a field with a ship 1 travelling therein. A target point P<SB>T</SB>is moved at prescribed speed by prescribed azimuth along the route 100 which is defined by connecting the way points Wp with segments. In the meantime, an optimum thrust command value is calculated by performing optimum calculation, based on a terminal end state amount restraint condition for setting the target value of the state amount of the ship 1 only by a terminal end time after a set time (setting time) T elapses from the present time, on an evaluation function including the thrust command value of the ship 1, and on the state amount at the present time which is acquired concerning the ship 1. Then, the ship 1 is moved to follow the target point P<SB>T</SB>after the delay of the time T. COPYRIGHT: (C)2005,JPO&NCIPI
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