trajectory planning method, trajectory planning system and trajectory planning and control system

摘要

PROBLEM TO BE SOLVED: To provide a path planning method enabling planning of a semi-cost minimum path with higher accuracy by dividing a state space so as to minimize a motion cost.;SOLUTION: An method for planning a path is a path planning method for obtaining a path for controlling the state of an object to a target state by a path planning system (100), and includes: a step in which a cell creation part (103) for dividing a state space of the object into cells divides the state space into cells so as to minimize an approximate error due to discretization with respect to a prescribed number of cells; a step in which a search tree creation part (101) creates a search tree corresponding to state transition of the object in the state space so that nodes of branches of the search tree corresponding to state transition of the object are included in the cells respectively, one node per cell; and a step in which a path creation part (107) uses the search tree to determine a path from the current state of the object to the target state.;COPYRIGHT: (C)2013,JPO&INPIT