To provide an apparatus and a method that efficiently determines a best path on which a moving apparatus such as a walking robot can travel safely. The apparatus includes a path planning unit that determines a travel path of the moving apparatus such as a walking robot, and the path planning unit is configured to calculate a path cost for each of a plurality of path candidates by applying a cost calculation algorithm in which a path that enables more stable traveling has a lower cost and to determine the path candidate having the path cost that has been calculated to be the lowest cost as the travel path that is best. The path planning unit sets a plurality of sampling points in a path, calculates a cost corresponding to each sampling point by applying the cost calculation algorithm in which the cost becomes higher as the difference between landing heights of the left and right legs at each sampling point becomes larger, and calculates an addition value of the costs of the sampling points as the path cost.
MOVING APPARATUS, MOVING APPARATUS CONTROL METHOD, AND PROGRAM
17.10.2024
Patent
Elektronische Ressource
Englisch
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