| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving device or the like to avoid contact with an object while preventing, as much as possible, a moving efficiency from decreasing. SOLUTION: A non-prohibited area of a robot 1, a current image of the robot 1, a current image of an object (x), and a discontinuous or continuous future image of the object corresponding to the behavioral state of the object (x) are recognized respectively as a passage area TA, a reference element Q<SB>0</SB>, a first element Q<SB>1</SB>, and a second element Q<SB>2</SB>on a determination plane. Based on the recognition result, a determination is made as to whether or not there is a first element Q<SB>1</SB>which is likely to be in contact with the reference element Q<SB>0</SB>in the passage area TA. When the first element Q<SB>1</SB>is determined to exist, part of a course R<SB>k</SB>is replaced by a local course r<SB>k+1</SB>and thus changed. An action plan corresponding to a new course R<SB>k+1</SB>after the change is set. COPYRIGHT: (C)2009,JPO&INPIT
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