Trajectory generation device, trajectory generation method, and recording medium storing trajectory generation program

Abstract

A trajectory generation device includes an acquisition unit, a clustering unit and a generation unit. The acquisition unit acquires successful trajectory information and failed trajectory information that are trajectory information representing sequences of states of a controlled object being taught by a teacher. The successful trajectory information is trajectory information when a task performed by the controlled object is successful, and the failed trajectory information is trajectory information when the task is failed. From the states of the controlled object belonging to the successful trajectory information and the states belonging to the failed trajectory information, the clustering unit generates clusters of successful classes of the states. On the basis of the clusters of successful classes, the generation unit generates target trajectory information representing a sequence of states of the controlled object, the sequence of states being usable as control targets when the controlled object is caused to execute the task.