OBSTACLE AVOIDANCE CONTROL DEVICE, OBSTACLE AVOIDANCE CONTROL SYSTEM, OBSTACLE AVOIDANCE CONTROL METHOD, AND RECORDING MEDIUM

摘要

This obstacle avoidance control device is provided with: an avoidance command value calculation unit that determines an avoidance command value, which is a control command value for a controlled device, wherein the control command value satisfies constraint conditions including a condition sufficient for the controlled device not to come into contact with an obstacle, and the evaluation value obtained by applying the control command value to an evaluation function satisfies a prescribed exit condition; and a device control unit that controls the controlled device on the basis of the results of the processing by the avoidance command value calculation unit.