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MOVEMENT PLANNING DEVICE, MOVEMENT PLANNING METHOD, AND MOVEMENT PLANNING PROGRAM
MOVEMENT PLANNING DEVICE, MOVEMENT PLANNING METHOD, AND MOVEMENT PLANNING PROGRAM
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机译:运动规划装置、运动规划方法和运动规划程序
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摘要
Provided is a technique for generating a movement plan rapidly and at a relatively light memory load, even for a complex task, while guaranteeing executability in a real environment. A movement planning device according to one aspect of the present invention uses a symbolic planner to generate an abstract action sequence including one or more abstract actions that are arranged in the order of execution. The movement planning device: uses a movement planner to generate, from each abstract action and in the order of execution, a sequence of movements; and determines whether the generated sequence of movements can be physically executed by a robot device in the real environment.
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