Trajectory planning method, trajectory planning systems and robot

摘要

PROBLEM TO BE SOLVED: To provide a trajectory planning method and a trajectory planning system, which do not cause restriction in searching a state space while suppressing calculation costs.;SOLUTION: The trajectory planning system includes a search tree generating section 101 which registers a state of an object as a root of a search tree in the state space, and registers a next state of the object after a lapse of time as a branch of the search tree in the state space from dynamic relationships in a predetermined time interval. The system further includes a known-state registration tree storing section 105 which stores a known-state registration tree, and a known-state registration tree generating section 103 which determines a cell to which the next state belongs among a plurality of cells of the previously segmented state space, determines whether or not a state which belongs to the cell has already been registered as a branch of the known-state registration tree, discards the next state when the state which belongs to the cell has been registered, and registers the next step as a branch of the known-state registration tree when the state which belongs to the cell has not been registered. The system further includes a trajectory generating section 107 which selects a state whose distance to a goal state is the minimum out of the states registered as the branches of the known-state registration tree and obtains a trajectory from that state.;COPYRIGHT: (C)2011,JPO&INPIT