Title:
CONTROL DEVICE, CONTROL METHOD, AND RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2020/157863
Kind Code:
A1
Abstract:
This control device comprises: a machine learning unit that performs machine learning of a control for an operation of a device to be controlled; an avoidance command value calculation unit that derives an avoidance command value, which is a value for a control command directed at the device to be controlled, the control command value satisfying a constraint condition that includes a condition for the device to be controlled to not contact an obstacle, and the control command value being such that an evaluation value obtained by applying the control command value to an evaluation function satisfies a prescribed completion condition; and a device control unit that controls the device to be controlled on the basis of the avoidance command value. A parameter value obtained by the machine learning performed by the machine learning unit is reflected in the evaluation function and/or the constraint condition.
Inventors:
OYAMA HIROYUKI (JP)
ITOU TAKEHIRO (JP)
ITOU TAKEHIRO (JP)
Application Number:
PCT/JP2019/003188
Publication Date:
August 06, 2020
Filing Date:
January 30, 2019
Export Citation:
Assignee:
NEC CORP (JP)
International Classes:
G05D1/02; B25J9/10; B25J13/00; G05B13/02; G05B19/4155
Foreign References:
| JP2018190241A | 2018-11-29 | |||
| JP2012208789A | 2012-10-25 | |||
| JP2012208789A | 2012-10-25 |
Other References:
See also references of EP 3920000A4
Attorney, Agent or Firm:
TANAI Sumio et al. (JP)
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