| 摘要 |
PROBLEM TO BE SOLVED: To provide an operation planning device, an operation planning method and an operation planning processing program for efficiently planning an optimal operation.SOLUTION: An operation planning device 1 for determining the current state of a control object in a phase space as the root of a search tree, and for searching the next state of the control object as the branch of the search tree, and for planning a position attitude operation from the current state to a target state of the control object on the basis of the search tree is configured to perform first search for searching a formula obtained by linearizing an equation of motion, and for searching the next state candidate by using the formula obtained by linearizing the equation of motion and second search for searching the next state from the next state candidate by using the equation of motion. |
