| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot cooperative conveyance planning technology capable of reducing a calculation time required for plan calculation or a memory capacity of a computer, while taking existence of a plurality of robots into consideration.SOLUTION: A Markov state space is constituted hierarchically (an article orbital calculation processing is defined as a first hierarchy, a changeover position determination processing is defined as a second hierarchy, and a moving route planning processing is defined as a third hierarchy), and search for a movement plan is performed from a hierarchy having a low change frequency (first hierarchy), and a search range in a hierarchy having a high change frequency is restricted by using a result of search calculation in a hierarchy having a low change frequency, and search in a lower rank hierarchy (a second hierarchy, a third hierarchy) having a high change frequency is performed in the restricted state space. |
