| 摘要 |
PURPOSE: To find out the path of minimum cost from a start point to a goal point in a task space by using cost metrics called space variant metrics. CONSTITUTION: On the floor of the task space 21, laterally four and longitudinally three cells are present and a robot moves from a cell to a cell in one of the eight lateral, longitudinal and diagonal directions. The floor is sectioned with walls 24, and a pole 23 which is an obstacle when the robot moves is present; and the floor sinks in a cell 25, the floor sinking in the cell 25 is the restriction condition of the movement of the robot, and a cell 22 is a goal cell. Here, a step wherein a cost wave is propagated in a form space 21 representing a task space by using space variant metrics is provided. Consequently, the track of minimum cost from one cell to the goal cell 22 can be found out.
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