Autonomous behavior robot, server, and behavior control program

摘要

The robot includes an operation control unit that determines an execution trajectory that is a movement path of the robot, and a drive mechanism that moves the robot along the execution trajectory. The robot generates a planned trajectory corresponding to the event before the event occurs. When an event actually occurs while moving along the execution trajectory, the robot moves along the planned trajectory instead of the execution trajectory. A plurality of planned trajectories are sequentially generated for one event, and when a plurality of planned trajectories have already been generated when the event occurs, one of the planned trajectories is selected from them.