Movement planning device, movement planning method, and non-transitory computer readable medium

A movement planning method comprising:

• causing a computer to execute steps as follows, including:
• acquiring task information including information on a start state and a target state of a task given to a robot device,
• generating an abstract action sequence including one or more abstract actions arranged in an order of execution so as to reach the target state from the start state based on the task information by using a symbolic planner,
• generating a movement sequence including one or more physical actions for performing the abstract actions included in the abstract action sequence in the order of execution by using a motion planner,
• determining whether the generated movement sequence is physically executable in a real environment by the robot device, and
• outputting a movement group which includes one or more movement sequences generated using the motion planner and in which all of the movement sequences that are included are determined to be physically executable,
• wherein in the determining, in a case where it is determined that the movement sequence is physically inexecutable, the computer discards an abstract movement sequence after the abstract action corresponding to the movement sequence determined to be physically inexecutable, and returns to the generating of the abstract action sequence to generate a new abstract action sequence after the action by using the symbolic planner.

A non-transitory computer readable medium, storing a movement planning program causing a computer to execute steps as follows, including

• acquiring task information including information on a start state and a target state of a task given to a robot device,
• generating an abstract action sequence including one or more abstract actions arranged in an order of execution so as to reach the target state from the start state based on the task information by using a symbolic planner,
• generating a movement sequence including one or more physical actions for performing the abstract actions included in the abstract action sequence in the order of execution by using a motion planner,
• determining whether the generated movement sequence is physically executable in a real environment by the robot device, and
• outputting a movement group which includes one or more movement sequences generated using the motion planner and in which all of the movement sequences that are included are determined to be physically executable,
• wherein, in the determining, in a case where it is determined that the movement sequence is physically inexecutable, the computer discards an abstract movement sequence after the abstract action corresponding to the movement sequence determined to be physically inexecutable, and returns to the generating of the abstract action sequence to generate a new abstract action sequence after the action by using the symbolic planner.