DEVICE AND METHOD FOR DECIDING OPERATION PLAN

摘要

PROBLEM TO BE SOLVED: To provide an operation plan decision device for a robot allowed to execute required movement even when a peripheral environment is slightly changed. SOLUTION: When two abstracted environment group data driving instructions are mutually identical, only those that have common data for other than the driving instruction are extracted (step S37). The processing (step S37) is repeated until two driving instructions are different from each other (step S38). Thus, an operation plan generated at first collects abstracted environment group data obtained by abstracting sensor values until the driving instructions are changed. On the other hand, at an operation changing point the generated abstracted environment group data are used as they are. In this manner during the execution of the same operation, an operation plan capable of allowing the robot to execute desired movement even for a slight environmental change can be generated by abstracting the shape of the surroundings.