MOBILE-BODY CONTROL SYSTEM, CONTROL METHOD THEREOF, PROGRAM, AND RECORDING MEDIUM

To provide a mobile-body control system capable of generating a travel track for a mobile body that has a drive wheel and a driven wheel, while appropriately considering an angle of the driven wheel.SOLUTION: A mobile-body control system for controlling an action of a mobile body that includes a drive wheel and a driven wheel includes: generation means for generating a track for the mobile body on the basis of a track and a target position, which can be generated from a speed and an angular velocity of the mobile body that satisfies a given limiting condition; and control means for controlling travel of the mobile body along the generated track. Further, the given limiting condition includes: a limitation determined from a speed at which the mobile body can travel; a limitation determined from acceleration at which the mobile body can accelerate; and a limitation in accordance with an angle of the driven wheel.SELECTED DRAWING: Figure 1 【課題】従動輪の角度を適切に考慮しながら、駆動輪と受動輪を有する移動体の走行軌道を生成することが可能な移動体制御システムを提供する。【解決手段】駆動輪と従動輪とを備える移動体の動作を制御する移動体制御システムであって、所定の制約条件を満たす移動体の速度及び角速度から生成可能な軌道と目標位置とに基づいて、移動体が走行する軌道を生成する生成手段と、生成された軌道に従って、移動体の走行を制御する制御手段と、を有し、所定の制約条件は、移動体の走行可能な速度から定まる制約と、移動体の加速可能な加速度から定まる制約と、従動輪の角度に応じた制約とを含む。【選択図】図１