Model parameter learning method

Abstract

Provided is a model parameter learning method by which a model parameter of a learning model used in control of a moving body having movement constraints can be appropriately learned. In this model parameter learning method, a model prediction control algorithm reflecting movement constraints of a robotis used to calculate a time series of learning speed commands such that the movement trajectory of the robottracks the time series of a movement trajectory of a first pedestrian; and a model parameter of a CNN model is learned by an error back propagation method, the CNN model using learning data including the learning speed commands time series as input and outputting a time series of speed commands for a first moving body.