METHOD AND SYSTEM MANEUVERING MOVABLE OBJECT

摘要

PROBLEM TO BE SOLVED: To provide a method of steering a movable body and its device allowing automatic steering in an optimum travel pathway along a given target point while minimizing power in predetermined constraints. SOLUTION: The target point WPi+1is set, and the quantity of state of the movable body to arrive at the target point WPi+1in consideration of the specific non-linear conditions of the moving body 5 and a thrust value for minimizing an evaluation function regarding thrust are calculated at a real time. The movable body 5 is moved in accordance with the calculated thrust value. COPYRIGHT: (C)2004,JPO