Abstract: A mobile body control device includes: an observation trajectory acquisition unit that acquires, a trajectory along which the subject walks; a basic trajectory acquisition unit that acquires, a basic trajectory that matches the observation trajectory; a subject predicted trajectory acquisition unit that acquires a trajectory along which the subject walks after the current time point based on the specific basic trajectory; a prediction reliability calculation unit that calculates a prediction reliability based on uncertainty added along the subject predicted trajectory; a target trajectory acquisition unit that acquires, a trajectory formed by a target position of a mobile body set ahead of the subject in a traveling direction of the subject; and a control-command-sequence-generating unit that generates a control command sequence using an evaluation function that uses as input the subject predicted trajectory, prediction reliability, target trajectory, and a control trajectory.

Abstract: From distance measurement data obtained by a distance measurement, according to a moving body approximate ellipses and quadratic functions along an xy-axis and yx-axis are calculated. An approximate ellipse close to the shoulder width and thickness of a user is selected, and quadratic functions having the smallest approximation error to the distance measurement data are selected. Thus, the position and orientation of the user are estimated from the selected approximate curves. That is, if an approximate curve based on one shape or coordinate system does not match the user, the position and orientation of the user are estimated from an approximate curve based on another shape or coordinate system. Therefore, even if the positional relation between the distance measurement sensor and user changes variously, the position and orientation of the user can be detected.