Program, method and device for controlling movable body
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United States of America Patent
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Jan 22, 2019
Grant Date -
Jan 18, 2018
app pub date -
Nov 26, 2015
filing date -
Dec 22, 2014
priority date (Note) -
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status (Latency Note)
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Abstract
The purpose is to provide a program, method and device for controlling a movable body (e.g., single-propeller single-rudder ship) to move the movable body while keeping it orientated in a given direction. A controlling module may cause the movable body to stay at a fixed point position by controlling a thrust generator and a moving direction adjustor to orient the movable body to a direction of a disturbance estimated by a disturbance direction estimating module so that the movable body is not drifted by the disturbance. Every time the changing module sequentially changes the fixed point position, the controlling module may move the movable body to the changed fixed point position. Thus, the control device of the movable body of this disclosure may sequentially move the movable body while keeping it oriented to the direction of the disturbance.
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