ADMINISTRATIVE TAXATION SYSTEM, ADMINISTRATIVE TAXATION SYSTEM, ADMINISTRATIVE TAXATION PROCEDURES AND MEDIUM OF RECORD

摘要

An obstacle avoidance control device includes an avoidance command value calculation unit that obtains an avoidance command value that is a control command value for control target equipment, the control command value which satisfies constraint conditions including a condition sufficient for the control target equipment not to come into contact with an obstacle, and the control command value that an evaluation value obtained by applying the control command value to an evaluation function satisfies a prescribed end condition, and an equipment control unit that controls the control target equipment on the basis of a processing result of the avoidance command value calculation unit.