OBSTACLE AVOIDING METHOD IN STATE-TIME SPACE, RECORDING MEDIUM STORING PROGRAM FOR EXECUTING SAME, AND COMPUTER PROGRAM STORED IN RECORDING MEDIUM FOR EXECUTING SAME

摘要

The present invention relates to an obstacle avoiding method in a state-time space, a recording medium storing a program for employing the same, and a computer program stored in a medium for employing the same. More particularly, the present invention relates to an obstacle avoiding method in a state-time space, a recording medium storing a program for employing the same, and a computer program stored in a medium for employing the same, wherein a forward trajectory is calculated on the basis of a safe timed configuration region, when collision is expected while calculating the forward trajectory, a part of the calculated forward trajectory is canceled, and a forward trajectory passing through an interim target is calculated, and thus a time required for calculating is reduced and a trajectory and success rate to the destination target state is ensured so as to obtain improvement in performance.