OBSTACLE AVOIDING DEVICE, OBSTACLE AVOIDING METHOD, OBSTACLE AVOIDING PROGRAM, AND MOVABLE ROBOT DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an obstacle avoiding device, an obstacle avoiding method, an obstacle avoiding program, and a movable robot device, capable of reducing computation quantity for interference check or the like, and efficiently planning a route to avoid an obstacle.;SOLUTION: A layer is provided in each direction of the robot device, and a state space is composed comprising a common map for each layer. Based on evaluation values related to actions of the robot device, routes are generated in the state space. Actions of movable bodies are controlled based on the generated routes to avoid obstacles.;COPYRIGHT: (C)2006,JPO&NCIPI