Trajectory planning method , trajectory control method , trajectory planning system and trajectory planning and control system .

摘要

PROBLEM TO BE SOLVED: To provide a track planning system which can find tracks from various initial states of an object to a target state at a low calculation cost without restrictions on a search, and a track planning and control system which controls a track to the target state based upon the found tracks.;SOLUTION: The track planning and control system includes: a search tree generation unit (101) which previously generates a search tree such that the target state is a root in a state space, states up to the target state are branches, and a plurality of cells in the previously sectioned state space each have one branch; a search tree storage unit (103) which stores the search tree; and a track generation unit (105) which finds a current state of the object, finds a branch of the search tree corresponding to the current state, and finds a route on the search tree from the branch of the search tree corresponding to the current state to the root as a track of the object. The track planning and control system further includes a track control unit (107) which controls the track up to the target state.;COPYRIGHT: (C)2012,JPO&INPIT