{
  "$type": "site.standard.document",
  "description": "A movement control method for multi-vehicle for moving multiple vehicles to target positions individually set for the vehicles includes the steps of: acquiring positions of the vehicles; determining control input for moving the vehicles from the acquired positions to positions away from the target…",
  "path": "/patents/1294441",
  "publishedAt": "2021-07-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0027",
    "MITSUBISHI HEAVY INDUSTRIES, LTD."
  ],
  "textContent": "A movement control method for multi-vehicle for moving multiple vehicles to target positions individually set for the vehicles includes the steps of: acquiring positions of the vehicles; determining control input for moving the vehicles from the acquired positions to positions away from the target positions by a first distance or more while the vehicles satisfy a predetermined condition; and updating the first distance to a shorter distance when a distance between the position and the target position of each of the vehicles becomes equal to or more than the first distance and within an updating distance.",
  "title": "MOVING CONTROL METHOD, MOVING CONTROL DEVICE, MOVING CONTROL SYSTEM, PROGRAM, AND STORAGE MEDIUM FOR MULTI-VEHICLE"
}