Abstract
AbstractThis paper proposes a method of reasoning and of planning space and motion based on quantitative physical models.First, the particle‐collection representation (PCR) is proposed as a method of representing objects, and the robust simulation method of rigid‐body dynamics using PCR is discussed.Next, as a system which reasons and plans dynamic actions of rigid bodies based on this rigid‐body simulation, a planner (PCP) using physical simulation is proposed.For the planning method of PSP, the action improvement method is proposed which carries out a plan by gradually improving an original plan.To solve the problem of adjusting parameters for action in the action improvement method, the general parameter adjuster (GPA) is proposed. Moreover, the motion of bodies and carriage plannings by PSP are simulated. Furthermore, the robustness and extensibility of the PSP are investigated.
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