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MOBILE OBJECT CONTROL DEVICE, MOBILE OBJECT CONTROL METHOD, AND MOBILE OBJECT CONTROL PROGRAM

  • US 20180015994A1
  • Filed: 11/26/2015
  • Published: 01/18/2018
  • Est. Priority Date: 12/22/2014
  • Status: Active Grant
First Claim
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1. A control device of a movable body including a thrust generator configured to thrust the movable body in a specific direction, and a moving direction adjustor configured to adjust a direction in which the movable body moves by the thrust, comprising:

  • a movable body direction sensor configured to detect an oriented direction of the movable body;

    a position sensor configured to detect a position of the movable body; and

    processing circuitry configured;

    to estimate a direction of a disturbance that moves the movable body;

    to set a fixed point position that is a position at which the movable body is to stay;

    to control the thrust generator and the moving direction adjustor so thatthe oriented direction of the movable body detected by the movable body direction sensor opposes to the direction of the disturbance estimated by the processing circuitry, andthe movable body stays at the fixed point position set by the processing circuitry;

    whereinthe processing circuitry further configured to sequentially change the fixed point position.

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