Traveling robot, notion planning method for traveling robot, and storage medium storing program for traveling robot

A motion planning method for a traveling robot, the traveling robot including a mobile unit, an arm and an electronic control unit, the mobile unit including wheels, the arm being supported on the mobile unit and coupled to the mobile unit so as to be relatively displaceable with respect to the mobile unit, the motion planning method comprising:

• setting, by the electronic control unit, a target position to which the traveling robot intends to travel;
• calculating, by the electronic control unit, a center of gravity of the traveling robot;
• and
• in the case where the traveling robot is close to the set target position, planning, by the electronic control unit, a motion of a movable part of the mobile unit and/or arm such that a limitation on a range of the center of gravity is relaxed as compared to a limitation on the range of the center of gravity in the case where the traveling robot is far from the set target position.

A non-transitory computer readable storage medium storing a program for a traveling robot including a mobile unit, an arm and a computer, the mobile unit including wheels, the arm being supported on the mobile unit and coupled to the mobile unit so as to be relatively displaceable with respect to the mobile unit, the program causing the computer to execute a process, the process comprising:

• setting a target position to which the traveling robot intends to travel;
• calculating a center of gravity of the traveling robot;
• and
• in the case where the traveling robot is close to the set target position, planning a motion of a movable part of the mobile unit and/or arm such that a limitation on a range of the center of gravity is relaxed as compared to a limitation on the range of the center of gravity in the case where the traveling robot is far from the set target position.