Patent ID: 8924013

Claim:
Method for determining a path for controlling by a path planning system for bringing a state of an object to a target state, comprising: defining, by a search tree production unit, said target state in a state space as a root; defining, by the search tree production unit, a state at a time before a predetermined time interval in the state space as a branch; determining, by the search tree production unit, whether a branch is assigned to each one of a plurality of sections of the state space, said state space being divided into the plurality of sections in advance; producing, by the search tree production unit, a search tree having only one branch at each one of the a plurality of sections, by registering a branch when the branch satisfies constraints on the state space at the time before the predetermined time interval, and destroying a branch when the branch does not satisfy the constraints; determining, by a path generation unit, a current state of said object; determining, by the path generation unit, a branch of the search tree that corresponds to the current state; and determining, by the path generation unit, as a path of the object, a route on the search tree from the branch corresponding to the current state to the root, wherein the object is a member of a robot, and wherein the robot controls the member according to the route on the search tree.