| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving device or the like capable of moving by avoiding the contact with an object such as a human or the like by making the object more clearly recognize behavior change. SOLUTION: A robot 1 and its behavior state and the object x and its behavior state are recognized as a reference space element Q<SB>0</SB>in an element space QS and its behavior state and a first space element Q<SB>1</SB>and its behavior state, respectively. When it is recognized that there is the possibility that the reference space element Q<SB>0</SB>contacts with the first space element Q<SB>1</SB>in the element space QS, a shifting path r<SB>k+1</SB>inclined with respect to the previous target path R<SB>k</SB>by the angleθcorresponding to the distance d between the reference space element Q<SB>0</SB>and the first space element Q<SB>1</SB>is set. Additionally, making the end point r<SB>0</SB>of the shifting path r<SB>k+1</SB>as the starting point, the path capable of avoiding the contact of the reference space element Q<SB>0</SB>with the first space element Q<SB>1</SB>is set as this time's target path R<SB>k+1</SB>. COPYRIGHT: (C)2009,JPO&INPIT
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