PROBLEM TO BE SOLVED: To provide a method for determining a path of a robot so that a moving device can smoothly move to a destination while avoiding interference with a plurality of moving objects such as traffic participants. In an environment in which a plurality of second pedestrians M2 move according to a predetermined movement pattern, a plurality of movement routes Rw when the first pedestrian M1 moves toward a destination point Po are recognized. Data is generated as learning data in which an environment image representing the visual environment in front of the virtual robot when moving according to each movement path Rw and a movement direction command indicating the movement direction of the virtual robot are combined. In the environment image, at least a part of the moving object image area representing a pedestrian (moving object) existing around the robot 2 is colored according to the type of the moving object. The model parameters of the CNN (behavior model) that outputs the movement direction command while inputting the environment image data including the environment image are learned using the learning data, and the learned CNN is used to use the learned CNN of the robot 2. The movement speed command v_cmd is determined. [Selection diagram] Fig. 4
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