Patent ID: 8532898

Claim:
A control device of an omnidirectional vehicle having a traveling motion unit capable of moving on a floor surface in all directions including a first direction and a second direction which are orthogonal to each other, an actuator which drives the traveling motion unit, and a base body on which the traveling motion unit and the actuator are mounted, comprising: a desired velocity determining element which is an element that sequentially determines a desired velocity vector, which is a desired value of a velocity vector of a predetermined representative point of the vehicle and which carries out velocity attenuation processing, which is a processing for attenuating a magnitude of the desired velocity vector continuously or stepwise in a case where a predetermined condition holds; and a traveling motion unit control element which controls the motion of the traveling motion unit through the actuator on the basis of at least a desired velocity vector determined by the desired velocity determining element, wherein the desired velocity determining element includes a velocity direction adjusting element which determines a desired velocity vector such that an orientation of the desired velocity vector is brought closer to the first direction than to the orientation of an attenuation initial desired velocity vector, which is a desired velocity vector determined immediately before the execution of the velocity attenuation processing is started in a velocity attenuation period from the instant the execution of the velocity attenuation processing is begun to the instant the magnitude of the desired velocity vector is attenuated to zero in a case where the execution of the velocity attenuation processing is begun immediately after a desired velocity vector in an orientation that is different from the first direction is determined.