| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a system or the like in which a target trajectory of a control object in a space-time coordinate system can be searched in a suitable form in consideration of a situation of the control object. <P>SOLUTION: An initial positional relationship (k=1) of a first reference point q<SB POS="POST">1</SB>(k) and a second reference point q<SB POS="POST">2</SB>(k) in a space-time coordinate system is set so as to satisfy a "first condition" corresponding to an operation performance of an actuator 2. In the case where it is determined that a last-time trajectory candidate tr(k-1) is brought into contact with an object trajectory tro, a present-time positional relationship (k>1) of the first reference point q<SB POS="POST">1</SB>(k) and the second reference point q<SB POS="POST">2</SB>(k) in the space-time coordinate system is set so as to satisfy a "second condition" where a present-time time interval of the first reference point q<SB POS="POST">1</SB>(k) and the second reference point q<SB POS="POST">2</SB>(k) becomes longer than a last-time time interval, or the like. <P>COPYRIGHT: (C)2012,JPO&INPIT |
