JP5886502B2 - MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND CONTROL PROGRAM - Google Patents

Description

  The present invention relates to a moving body control device, a moving body control method, and a control program for calculating a moving path of a moving body and controlling the movement of the moving body according to the moving path.

  In recent years, various autonomous mobile bodies have been proposed in which obstacles around a moving body are detected using a measurement sensor or the like to set a movement path and move autonomously according to the movement path. For example, an autonomous moving body that generates 3D map information and moves while avoiding an obstacle using the generated 3D map information is known (see Patent Document 1).

JP 2006-236098 A

  However, in the autonomous mobile body shown in Patent Document 1, when an obstacle on the moving route is detected and set in the grid map, a moving route that avoids the obstacle next time when moving on the same route is set. It will be set. On the other hand, obstacles include static obstacles that are constantly fixed such as walls, semi-dynamic obstacles that can be moved such as chairs, and dynamic obstacles that move such as people. . For this reason, for example, after a certain period of time, depending on the type of obstacle, the obstacle may move and there is no need to avoid it. Therefore, as described above, when a movement route that always avoids an obstacle is set, a route that is detoured wastefully is set, so that it may not be possible to set the movement route optimally.

  The present invention has been made to solve such problems, and has as its main object to provide a mobile control device, a mobile control method and a control program capable of setting an optimal travel path. To do.

One aspect of the present invention for achieving the above object is that distance point acquisition means for acquiring distance point data for obstacles around a moving body, and distance point data of the obstacle acquired by the distance point acquisition means. A polygon map generating means for generating a polygon map indicating the outline of the obstacle, a path calculating means for calculating a moving path of the moving object on a grid-like grid map indicating a moving environment of the moving object, Route correction means for correcting the movement route calculated by the route calculation means, wherein the route correction means is a fault generated by the polygon map generation means on the movement route calculated by the route calculation means. The distance point data is acquired by the distance point acquisition unit for the path portion of the movement path that is determined to be impossible to pass based on the polygon map of the object. Distance point data is recorded, it is a mobile control device according to claim.
In this one aspect, when there is a route portion that is determined to be unpassable in the travel route calculated by the route calculation means, the route correction means, the distance point data recorded for the route portion, You may compare the distance point data with respect to the said route part acquired again by the distance point acquisition means.
In this one aspect, the route correction means, when the distance point data recorded in the route portion matches the distance point data for the route portion acquired again by the distance point acquisition means, the route portion May be determined as a prohibited area that cannot pass through.
In this aspect, when the route correction unit determines that the distance point data recorded in the route portion and the distance point data for the route portion acquired again by the distance point acquisition unit do not match, The route calculating means may recalculate the moving route of the moving body.
In this one aspect, when the route correcting means determines that there is a dynamic obstacle in the route portion determined not to pass based on the distance point data of the obstacle acquired by the distance point acquiring means. The travel route may be re-corrected after a predetermined time has elapsed.
In this aspect, the route correcting unit determines that only a static obstacle exists in the route portion determined to be unpassable based on the distance point data of the obstacle acquired by the distance point acquiring unit. At this time, a non-passable potential indicating non-passability may be set for the route portion.
In this aspect, the route correcting unit may reduce the weight of the impassable potential for the route portion with the passage of time so that the route portion can be set as a moving route.
In this one aspect, when the route correcting means determines that the route portion determined to be unpassable again as a result of the re-correction of the moving route, the distance point is determined with respect to the route portion. The distance point data may be acquired by the acquisition means, and the acquired distance point data may be recorded.
In this aspect, when the route correction means determines that the route portion determined to be unpassable as a result of re-correction of the travel route is determined to be passable, the route correction means finally determines the travel route after the re-correction. It may be set as a movement route.
In this aspect, the apparatus may further include movement control means for controlling movement of the moving body in accordance with the movement path corrected by the path correction means.
On the other hand, according to one aspect of the present invention for achieving the above object, the obstacle is obtained based on the step of obtaining distance point data for the obstacle around the moving body, and the obtained distance point data of the obstacle. Generating a polygon map indicating the outer shape of the moving object, calculating a moving path of the moving object on a grid-like grid map indicating a moving environment of the moving object, and correcting the calculated moving path; The distance point data is acquired for the route portion of the movement route that is determined to be unpassable on the calculated movement route based on the polygon map of the generated obstacle, and the obtained distance point And a step of recording data.
Further, according to one aspect of the present invention for achieving the above object, the obstacle is based on a process of acquiring distance point data for an obstacle around a moving body and the acquired distance point data of the obstacle. A process for generating a polygon map indicating the outer shape of the mobile object, a process for calculating a moving path of the moving object on a grid-like grid map indicating a moving environment of the moving object, and the generation on the calculated moving path The computer executes the process of acquiring the distance point data and recording the acquired distance point data for the path portion of the moving path that is determined to be unpassable based on the polygon map of the obstacle It may be a control program characterized by this.

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body control apparatus which can set an optimal movement path | route, a mobile body control method, and a control program can be provided.

It is a block diagram which shows the schematic system configuration | structure of the moving body control apparatus which concerns on one embodiment of this invention. (A) It is a figure which shows an example of the polygon map of an obstruction. (B) It is a figure which shows the grid map corresponding to the polygon map shown to Fig.2 (a). It is a figure which shows an example of the grid map in which the obstruction and the movement path | route were set. (A) It is a figure which shows the method of correct | amending so that a movement path | route may become a smooth curvature change. (B) It is a figure which shows the method of correct | amending so that a movement path | route may become a smooth curvature change. (C) It is a figure which shows the method of correct | amending so that a movement path | route may become a smooth curvature change. It is a flowchart which shows the flow of the moving body control method which concerns on one embodiment of this invention. It is a figure for demonstrating the problem of a dead end. (A) It is a figure which shows an example of a dynamic obstruction. (B) It is a figure which shows an example of a semi-dynamic obstacle. (C) It is a figure which shows an example of a static obstruction. It is a flowchart which shows the flow of the route planning method by the mobile body control apparatus which concerns on one embodiment of this invention. It is a flowchart which shows the flow of the route planning method by the mobile body control apparatus which concerns on one embodiment of this invention.

Embodiments of the present invention will be described below with reference to the drawings.
A mobile body control device according to an embodiment of the present invention is mounted on an autonomous mobile body that moves autonomously, calculates a travel path of the autonomous mobile body, and moves the autonomous mobile body according to the calculated travel path. Control. In addition, as an autonomous mobile body, it can apply to arbitrary autonomous mobile bodies which can autonomously move, such as a bipedal walking robot and a wheel drive type robot, for example.

  FIG. 1 is a block diagram showing a schematic system configuration of a mobile control device according to an embodiment of the present invention. The mobile body control device 1 according to the present embodiment includes a distance sensor 2, a polygon map generation unit 3, a route calculation unit 4, a route correction unit 5, a movement control unit 6, a self-position estimation unit 7, It has.

  The mobile control device 1 includes, for example, a CPU (Central Processing Unit) that performs arithmetic processing, control processing, and the like, a ROM (Read Only Memory) or a RAM (RAM) that stores arithmetic programs executed by the CPU, control programs, and the like. Random Access Memory), and a microcomputer composed of an external interface unit (I / F) for inputting / outputting signals to / from the outside, and the like, are configured as hardware. The CPU, memory, and interface unit are connected to each other via a data bus or the like.

  The distance sensor 2 is a specific example of a distance point acquisition unit, is provided in the autonomous mobile body, and acquires 3D point cloud data of an obstacle existing around the autonomous mobile body.

  Here, the distance sensor 2 removes a plane (floor surface) on which the autonomous mobile body moves from the acquired three-dimensional point group data by performing a plane detection process. Thereby, the distance sensor 2 can acquire three-dimensional point cloud data of only an obstacle. In addition, when the visual field of the distance sensor 2 is narrow, the visual field may be enlarged by superimposing several past frames.

  The distance sensor 2 includes, for example, an ultrasonic sensor, a laser sensor, a three-dimensional image camera, and the like. The distance sensor 2 outputs the acquired three-dimensional point cloud data to the polygon map generation unit 3, the route calculation unit 4, and the route correction unit 5.

  The polygon map generation unit 3 is a specific example of polygon map generation means, and generates a polygon map of obstacles around the autonomous mobile body based on the three-dimensional point cloud data acquired by the distance sensor 2 (FIG. 2). (A)). This polygon map can express the outline of an obstacle with polygons with higher accuracy than a grid-like grid map (FIG. 2B). The polygon map generator 3 generates a two-dimensional point group by projecting, for example, a three-dimensional point group acquired by the distance sensor 2 and connects the points outside the two-dimensional point group with straight lines. Then, a polygon map showing the outline of the obstacle is generated. The polygon map generation unit 3 outputs the generated polygon map of the obstacle to the path correction unit 5.

  The route calculation unit 4 is a specific example of route calculation means, generates a grid map indicating the movement environment of the autonomous mobile body 100, and calculates the shortest movement route from the start point to the end point on the grid map. The route calculation unit 4 sets an area of a static obstacle (wall, table, etc.) whose position is stationary constantly on the grid map based on preset map information (FIG. 3). Further, the route calculation unit 4 projects a three-dimensional point group of dynamic obstacles (people, animals, robots, etc.) that are dynamic obstacles acquired by the distance sensor 2 onto a two-dimensional plane, thereby producing a two-dimensional point. A group is generated, and a grid that fills the two-dimensional point group is sequentially set on the grid map as the area of the dynamic obstacle.

  For example, the route calculation unit 4 determines whether the obstacle is a dynamic obstacle or a static obstacle based on the time-series change of the three-dimensional point cloud of the obstacle acquired by the distance sensor 2. Can do. When there is a time-series change in the 3D point cloud of the obstacle acquired by the distance sensor 2, the route calculation unit 4 determines that the obstacle is a dynamic obstacle and time-series the 3D point cloud of the obstacle. If there is no change, the obstacle is determined as a static obstacle. Further, the route calculation unit 4 performs pattern recognition based on the three-dimensional point cloud data of the obstacle acquired by the distance sensor 2, determines what the obstacle is, and the obstacle is a dynamic obstacle. And whether it belongs to a static obstacle.

  The route calculation unit 4 may set a prohibited area in which movement of the autonomous mobile body 100 is prohibited by the outer shape of the autonomous mobile body 100 around the areas of the static obstacle and the dynamic obstacle. Thereby, the autonomous mobile body 100 can be expressed by a point of one grid, and the movement route can be easily set. The route calculation unit 4 outputs the calculated grid map to the route correction unit 5. The route calculation unit 4 calculates the shortest movement route while avoiding the static and dynamic obstacles including the prohibited area as described above.

  Based on the polygon map of the obstacle generated by the polygon map generator 3, the route correction unit 5 does not interfere with the obstacle, and the posture change of the autonomous mobile body 100 is continuous (the movement route is The travel route calculated by the route calculation unit 4 is corrected so as to achieve a smooth curvature change.

  For example, as shown in FIG. 4A, a case is assumed where the initial movement route calculated by the route calculation unit 4 avoids an obstacle and the movement route has a discontinuous curvature change. In this case, the path correction unit 5 performs correction by a virtual spring as shown in FIG. 4B, and corrects the moving path that has a smooth curvature change as shown in FIG. 4C. Here, as the virtual spring, for example, an extension spring (first spring) and a torsion spring (second spring) are set between adjacent path points, and a compression spring (third) is set between the autonomous mobile body 100 and the obstacle. The above correction is performed by setting a spring. The route correcting unit 5 outputs the corrected moving route to the moving body control unit 6.

The movement control unit 6 is a specific example of a movement control unit, and controls the autonomous moving body 100 so that the autonomous moving body 100 moves according to the movement route corrected by the route correction unit 5.
The self position estimation unit 7 estimates the self position of the autonomous mobile body 100. The self-position estimation unit 7 can estimate the self-position of the self-supporting moving body 100 by using a known method such as matching between a detection result by odometry or a laser sensor and map information.

  FIG. 5 is a flowchart showing a flow of the mobile control method according to the present embodiment. The distance sensor 2 acquires three-dimensional point cloud data of an obstacle existing around the autonomous mobile body 100 (step S101), and outputs it to the polygon map generation unit 3 and the route correction unit 5.

  The polygon map generation unit 3 generates a polygon map of the obstacle based on the three-dimensional point cloud data acquired by the distance sensor 2 (step S102), and outputs it to the route correction unit 5.

  The route calculation unit 4 generates a grid map based on the three-dimensional point cloud of the dynamic obstacle acquired by the distance sensor 2 (step S103), and grids the shortest movement route from the set start point to the end point. It is calculated on the map (step S104) and output to the route correction unit 5.

  The route correction unit 5 moves on the movement route calculated by the route calculation unit 4 based on the obstacle polygon map generated by the polygon map generation unit 3 so that the autonomous mobile body 100 does not interfere with the obstacle. The route is corrected (step S105) and output to the moving body control unit 6. As described above, by performing the movement route search by the grid map and the polygon map correction for the detailed movement such as a narrow road, it is possible to achieve both high-speed wide area movement and high-precision detailed movement.

  The movement control unit 6 controls the movement of the autonomous mobile body 100 according to the movement route corrected by the route correction unit 5 (step S106).

  By the way, it is determined that the autonomous mobile body 100 can pass a narrow road on the grid map, and then interference determination is performed on the same narrow road using a higher-accuracy polygon map. A so-called bag path problem has occurred (FIG. 6). Here, for example, a moving obstacle such as a person (FIG. 7A) or a static but movable semi-dynamic obstacle such as a chair (FIG. 7B) sandwiches the object. It may be determined that the road cannot pass. In this case, there is a possibility that the narrow path can be passed later due to the movement of the obstacle. On the other hand, if it is determined that the narrow path cannot pass due to a stationary fixed obstacle such as a wall (FIG. 7C), the possibility that the narrow path can be passed later is almost impossible. Therefore, it is desirable to set more detailed information of the obstacle on the grid map for the narrow road that cannot pass, and use the information for the calculation of the subsequent movement route.

  Therefore, in the moving body control device 1 according to the present embodiment, the route correction unit 5 is based on the obstacle polygon map generated by the polygon map generation unit 3 on the movement route calculated by the route calculation unit 4. The three-dimensional point cloud data is acquired by the distance sensor 2 for the path portion determined to be unpassable, and the acquired three-dimensional point cloud data is recorded.

  As a result, when the autonomous mobile body 100 comes again to the route portion that is determined to be unpassable, the recorded dynamic 3D point cloud data of the route portion is used. It is possible to set a more optimal movement route according to a dynamic obstacle or a static obstacle. Furthermore, since the three-dimensional point cloud data is recorded only for the path portion that is determined not to pass, the data processing amount can be reduced, and the processing speed can be increased.

  8 and 9 are flowcharts showing a flow of the route planning method by the mobile control device according to the present embodiment described above. First, with reference to the flowchart shown in FIG. 8, a processing flow when the autonomous mobile body first passes through a path portion that cannot pass, such as a narrow path, will be described in detail.

  The route calculation unit 4 generates a grid map based on the three-dimensional point cloud of the dynamic obstacle acquired by the distance sensor 2, and calculates the shortest movement route from the start point to the end point on the grid map (step) S201).

  The route correcting unit 5 performs autonomous movement on the moving route calculated by the route calculating unit 4 based on the polygon map of the obstacle generated by the polygon map generating unit 3 without interfering with the obstacle. The movement path is corrected so that the posture change of the body 100 is continuous (step S202).

  The route correcting unit 5 determines whether or not there is a route portion that is determined to be unpassable in the travel route calculated by the route calculating unit 4 in the above correction (step S203).

  When there is a route portion that is determined to be unpassable on the travel route calculated by the route calculation unit 4 (YES in step S203), the route correction unit 5 uses the three-dimensional point cloud data of the obstacle acquired by the distance sensor 2 as the path portion. Based on this, it is determined whether or not only a static obstacle exists in the route portion determined to be unpassable (step S204). On the other hand, the route correcting unit 5 proceeds to (step S210), which will be described later, when there is no route portion determined to be impossible to pass in the travel route calculated by the route calculating unit 4 (NO in step S203).

  When the path correction unit 5 determines based on the 3D point cloud data of the obstacle acquired by the distance sensor 2 that a dynamic obstacle exists in the path portion determined to be unpassable (NO in step S204). After a predetermined time has elapsed, the movement route is re-corrected so that the autonomous mobile body 100 does not interfere with the obstacle (step S205). As described above, the dynamic obstacle usually moves after a certain period of time. Therefore, even when the route portion cannot pass due to a dynamic obstacle, there is a high possibility that the dynamic obstacle moves and can pass after a certain period of time. Therefore, as described above, the travel route is re-corrected after waiting for a predetermined time, and it is reconfirmed whether the route can be set in the route portion. As a result, it is possible to eliminate the setting of a useless travel route that bypasses the originally passable route portion.

  The route correction unit 5 determines whether or not the route portion of the travel route after recorrection can pass (step S206). When the route correction unit 5 determines that the route portion of the re-corrected movement route cannot pass (NO in step S206), the route correction unit 5 proceeds to a process described later (step S207). On the other hand, when the route correction unit 5 determines that the route portion of the re-corrected movement route can pass (YES in Step S206), the route correction unit 5 proceeds to (Step S210) described later.

  When the path correction unit 5 determines that only a static obstacle exists in the path portion determined to be unpassable based on the three-dimensional point cloud data of the obstacle acquired by the distance sensor 2 (YES in step S204). ), The distance sensor 2 acquires the three-dimensional point cloud data of the route portion, and records it in the route portion of the grid map (step S207).

  The route correction unit 5 sets a non-passable potential indicating that it is impossible to pass through the route portion of the moving route in the grid map (step S208). Thus, when there is a static obstacle in the route portion and it is impossible to pass through, the static obstacle is normally fixed constantly, so that the passage impossible state changes even with time. That is almost impossible. Therefore, a non-passable potential is set for the route portion, and in principle, a movement route that avoids the route portion is set from the next time. As a result, a travel route is not set for a route portion that cannot pass, and therefore, a useless travel route setting can be eliminated.

  Here, the route correction unit 5 may set the weight of the impassable potential set in the grid map so as to decrease (gradually decrease or stepwise decrease) with time. This is because, if a static obstacle contains a quasi-dynamic obstacle, the quasi-dynamic obstacle moves after a certain period of time (for example, a small and lightweight quasi-dynamic obstacle such as a chair This is because there is a possibility that a route portion once determined to be unpassable may be allowed to pass through.

  In this case, when there is no other optimum route, the route calculation unit 4 sets the route portion of the impassable potential whose weight has decreased with the passage of time as a part of the moving route again. As a result, it is possible to eliminate a useless travel route setting such as immediately detouring a route portion that can be passed.

  The route correcting unit 5 recalculates the travel route on the grid map in which the impassable potential is set (step S209).

  The movement control unit 6 controls the movement of the autonomous mobile body 100 so as to move according to the movement route recalculated by the route correction unit 5 (step S210).

  Next, a processing flow when the autonomous mobile body 100 passes through a non-passable route portion such as a narrow path after the second time will be described in detail with reference to a flowchart shown in FIG.

  The route calculation unit 4 generates a grid map based on the three-dimensional point cloud of the dynamic obstacle acquired by the distance sensor 2, and calculates the shortest movement route from the set start point to the end point on the grid map. (Step S301).

  The route correction unit 5 moves on the movement route calculated by the route calculation unit 4 based on the obstacle polygon map generated by the polygon map generation unit 3 so that the autonomous mobile body 100 does not interfere with the obstacle. The route is corrected (step S302).

  The route correcting unit 5 determines whether or not there is a route portion (setting of a non-passable potential) that is determined to be non-passable in the travel route calculated by the route calculating unit 4 in the above correction (step S303).

  When there is a route portion that is determined to be non-passable in the travel route calculated by the route calculation unit 4 (YES in step S303), the route correction unit 5 stores the 3D point cloud data for the route portion determined to be non-passable. It is determined whether or not it is recorded (step S304). On the other hand, when there is no route portion that is determined to be unpassable in the travel route calculated by the route calculation unit 4 (NO in step S303), the route correction unit 5 proceeds to the process described later (step S309).

  When the path correction unit 5 determines that the three-dimensional point cloud data is recorded for the path part determined not to pass (YES in step S304), the path correction unit 5 performs the three-dimensional process for the path part acquired again by the distance sensor 2. The point cloud data is compared with the recorded three-dimensional point cloud data (step S305). By this comparison, it is possible to determine again whether or not the obstacle has moved to be able to pass through the path portion that has been determined to be unpassable.

  On the other hand, when the path correction unit 5 determines that the 3D point cloud data is not recorded for the path portion determined to be unpassable (NO in step S304), the above-described (step S204) (FIG. 8). Transition to processing. In this case, since the autonomous mobile body 100 passes for the first time the route portion determined to be unpassable, the flow returns to the first-pass flow shown in FIG.

  Here, the route correcting unit 5 uses, for example, an ICP (Interative Closest Point) algorithm, the 3D point cloud data for the route portion acquired again by the distance sensor 2, and the registered 3D point cloud data. And the degree of coincidence is calculated.

  As a result of comparing the three-dimensional point cloud data of the route portion, the route correcting unit 5 determines that the environment of the route portion matches the previous time (YES in step S306), and the path impossibility potential is determined. The route portion is determined on the grid map as a non-passable area (prohibited area) (step S307). In this case, since there is no change in the position of the obstacle in the route portion between the time when the autonomous mobile body 100 passes this time and the time when it passes the previous time, the route portion can be finally determined as a non-passable area in the grid map. .

  On the other hand, as a result of comparing the three-dimensional point cloud data of the route portion, the route correcting unit 5 determines that the environment of the route portion does not match the previous time (NO in step S306), which will be described later ( The process proceeds to step S308). In this case, it can be determined that the obstacle of the route portion has moved and changed to the position when the autonomous mobile body 100 passes this time and when it passes the previous time. Therefore, as will be described later, the movement route is recalculated again.

The route correction unit 5 recalculates the travel route on the grid map (step S308).
The movement control unit 6 controls the movement of the autonomous mobile body 100 in accordance with the movement route recalculated by the route correction unit 5 (step S309).

  As described above, in the moving body control device 1 according to the present embodiment, it is determined that the vehicle cannot pass on the moving route calculated by the route calculating unit 4 based on the polygon map of the obstacle generated by the polygon map generating unit 3. For the path portion, the distance sensor 2 acquires 3D point cloud data and records the acquired 3D point cloud data. Thereby, it is possible to set a more optimal movement route according to the obstacle existing in the route portion using the three-dimensional point cloud data of the route portion.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  Further, the present invention can be realized by causing the CPU to execute a computer program, for example, the processes shown in FIGS. 5, 8, and 9.

  The program may be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W and semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included.

  The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 1 Mobile body control apparatus 2 Distance sensor 3 Polygon map production | generation part 4 Path | route calculation part 5 Path | route correction part 6 Movement control part 7 Self-position estimation part 100 Autonomous mobile body

Claims (10)

Distance point acquisition means for acquiring distance point data for obstacles around the moving body;
A polygon map generating means for generating a polygon map indicating an outline of the obstacle based on the distance point data of the obstacle acquired by the distance point acquiring means;
Path calculating means for calculating a moving path of the moving body on a grid-like grid map indicating a moving environment of the moving body;
Route correction means for correcting the movement route calculated by the route calculation means,
The route correcting means statically applies a route portion of the moving route that is determined to be unpassable on the moving route calculated by the route calculating means based on the polygon map of the obstacle generated by the polygon map generating means. when it is determined that only the obstacle is present, for the said path portion acquires distance point data by the distance point obtaining means records the distance point data the acquired,
A non-passable potential indicating impossibility of passing is set in the route portion, the weight of the non-passable potential is decreased with time, and the route portion can be set as a moving route.
The moving body control apparatus characterized by the above-mentioned. The moving body control device according to claim 1,
When there is a route portion that is determined to be unpassable on the travel route calculated by the route calculation unit, the route correction unit uses the distance point data recorded for the route portion and the distance point acquisition unit. A moving body control device that compares distance point data for the route portion acquired again. The moving body control device according to claim 2,
The route correction means prohibits the passage portion from being unable to pass through when the distance point data recorded in the route portion and the distance point data for the route portion acquired again by the distance point acquisition means match. A moving body control device characterized by being determined as a region. The moving body control device according to claim 2 or 3,
When the route correction means determines that the distance point data recorded in the route portion and the distance point data for the route portion acquired again by the distance point acquisition means do not match, the route calculation means A moving body control device that recalculates a moving path of the moving body. The mobile body control device according to any one of claims 1 to 4,
When the route correcting means determines that a dynamic obstacle exists in the route portion determined to be impossible to pass based on the distance point data of the obstacle acquired by the distance point acquiring means, after a predetermined time has elapsed. The moving body control device, wherein the moving path is re-corrected. The moving body control device according to claim 5,
When the route correction unit determines that the route portion determined to be unpassable as a result of re-correction of the moving route is determined to be unpassable again, the distance point acquisition unit performs distance points on the route portion. A moving body control device characterized by acquiring data and recording the acquired distance point data. The moving body control device according to claim 5,
The route correction means sets the re-corrected movement route as the final movement route when the route portion determined to be unpassable as a result of re-correction of the movement route is determined to be passable. The moving body control apparatus characterized by the above-mentioned. The mobile body control device according to any one of claims 1 to 7 ,
A moving body control device further comprising movement control means for controlling movement of the moving body in accordance with the movement path corrected by the path correction means. Obtaining distance point data for obstacles around the moving body;
Generating a polygon map showing an outline of the obstacle based on the acquired distance point data of the obstacle;
Calculating a moving path of the moving body on a grid-like grid map indicating a moving environment of the moving body;
Modifying the calculated travel route;
When it is determined that only a static obstacle exists in the route part of the movement route that is determined to be impossible to pass on the calculated movement route based on the polygon map of the generated obstacle, the route part includes On the other hand, acquiring the distance point data and recording the acquired distance point data;
Setting a non-passable potential indicating impossibility of passing in the route portion, reducing the weight of the non-passable potential with time, and enabling the route portion to be set as a movement route;
A moving body control method comprising: Processing to obtain distance point data for obstacles around the moving body;
Based on the acquired distance point data of the obstacle, a process of generating a polygon map indicating the outline of the obstacle;
Processing for calculating a moving path of the moving body on a grid-like grid map indicating a moving environment of the moving body;
When it is determined that only a static obstacle exists in the route part of the movement route that is determined to be impossible to pass on the calculated movement route based on the polygon map of the generated obstacle, the route part includes On the other hand, a process of acquiring the distance point data and recording the acquired distance point data;
A process of setting a non-passable potential indicating impossibility of passing in the path part, reducing a weight of the non-passable potential with time, and setting the path part as a moving path;
A control program for causing a computer to execute.