MONITORING DEVICE, MONITORING TARGET TRACKING CONTROL DEVICE FOR MOVING OBJECT, MONITORING TARGET TRACKING CONTROL PROGRAM

摘要

To reduce a tracking difficulty and a tracking delay in a tracking control of a monitoring target, and continue monitoring of the monitoring target by a moving object.SOLUTION: In tracking of a moving object 10 after a target position is determined by a control law 1 and a control law 2, especially, a movement control of the moving object 10 that executes the following control rule based on a dynamic risk potential 28 is constructed. More specifically, in the risk potential monitoring control, for setting to follow the target position determined by a target position calculation for movement control according to the control law 1 or a target position calculation for movement control according to the control law 2, in a tracking control law, a position from a current time (k) to several steps ahead (k + N, N is a positive integer) based on a state space model of the moving object 10 is calculated, and based on a difference between the calculation result and the target position, an instruction value (control input) for moving the moving body 10 is obtained.SELECTED DRAWING: Figure 14