Patent ID: 11892852
Assignee: SONY GROUP CORPORATION
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. An information processing apparatus, comprising:
a position information acquisition unit configured to acquire position information of a mobile body;
a posture information acquisition unit configured to acquire posture information of the mobile body;
a generation unit configured to generate a target trajectory including a plurality of waypoints each including waypoint information including a position command value and a posture command value for the mobile body; and
a mobile body controller configured to
extract, from the plurality of waypoints, waypoints existing within a threshold distance from the mobile body using the position information and the position command value,
select, from the extracted waypoints, a waypoint having a smallest difference between the posture command value of the waypoint and the posture information,
set the waypoint as a reference point, and
control movement of the mobile body using the waypoint information of the waypoint set as the reference point.