The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 11, 2022
Filed:
Sep. 27, 2019
Omron Corporation, Kyoto, JP;
Mamoru Egi, Otsu, JP;
OMRON Corporation, Kyoto, JP;
Abstract
Provided is a control device for performing model prediction control. A position of a virtual obstacle associated with a real obstacle is set based on a position of the real obstacle acquired by a first acquisition part so that the virtual obstacle is positioned substantially symmetrically to the real obstacle with reference to a following target trajectory of a control target. Stage costs calculated by a prescribed evaluation function include: a first stage cost associated with a first probability potential field representing a probability that the real obstacle is present based on the position of the real obstacle; and a second stage cost associated with a second probability potential field representing a probability that the virtual obstacle is present based on the position of the virtual obstacle and having a probability value equal to or greater than that of the first probability potential field.