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1. 发明专利

JP2003330536A Course planning method of mobile object 审中-公开
标题翻译：移动对象课程规划方法
公开(公告)号：JP2003330536A
公开(公告)日：2003-11-21
申请号：JP2002134508
申请日：2002-05-09
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： KAWACHI MOTOKO , FUJISE TOKUO , MORIMURA KOICHI , KITA AKIRA , MURATA RYOICHI
IPC分类号： B63H25/04 , G05B13/02 , G05D1/00
摘要： PROBLEM TO BE SOLVED: To provide a course planning method of a mobile object which flexibly conducts a course planning without necessity of adjustment of membership function in each case for same kinds of mobile objects which have different movement functions.
SOLUTION: The course planning method of the mobile object, which finds a reference degree of a veering point after next, according to a prescribed fuzzy control rule, from a first membership function value decided from a fuzzy set of product of the closest time up to a next veering point and its speed by inputting a position of the veering point, a position of the mobile object itself, and speed, and a second membership function value decided from the fuzzy set of the closest distance up to the next veering point, and which calculates a command course based on this reference degree of a veering point after next, is provided with a step which sets a targeted value about the closest distance, and a step which changes domain of the first membership function and/or the second membership function so that difference between the closest distance and the targeted value satisfies a prescribed constraint condition.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种灵活地进行课程规划的移动对象的课程规划方法，而不需要在具有不同移动功能的相同种类的移动对象的情况下调整隶属函数。
解决方案：根据规定的模糊控制规则，从最接近的模糊集合的第一隶属函数值确定移动对象的课程规划方法，其根据规定的模糊控制规则找到下一个后退点的参考度通过输入转向点的位置，移动对象本身的位置和速度，以及从最近距离的模糊集合决定的第二隶属函数值直到下一个转向点的速度，以及其速度点，并且根据下一步之后的转向点的参考度来计算命令进程，提供设置关于最近距离的目标值的步骤，以及改变第一隶属函数的域和/或第二隶属函数，使得最近距离与目标值之间的差异满足规定的约束条件。版权所有（C）2004，JPO

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