MOTION PLANNING DEVICE, METHOD, AND PROGRAM FOR AUTONOMOUSLY MOVING ROBOT, RECORDING MEDIUM, AND MOTION CONTROL DEVICE AND METHOD FOR AUTONOMOUSLY MOVING ROBOT

摘要

PROBLEM TO BE SOLVED: To make a motion plan of an autonomously moving robot which is safer and is hard to fail.;SOLUTION: A first state transition probability is calculated under a flow speed faster than one assumed so as to improve safety. The first state transition probability and prescribed first reward are used to obtain a state value function V^π(s) on the basis of dynamic programming in a Markov decision process. A second state transition probability is calculated under a flow rate assumed. A second reward is defined in accordance with a first index with respect to a state of a transition destination. The second state transition probability and the second reward are used to obtain action value function Q^π(s, a) and the state value function V^π(s) on the basis of the dynamic programming in the Markov decision process. An action a making the action value function Q^π(s, a) and the state value function V^π(s) maximum is selected.;COPYRIGHT: (C)2010,JPO&INPIT