SYSTEM AND METHOD FOR PATH FORMATION AND RECORDING MEDIUM STORING PROGRAM WHICH MAKES COMPUTER PERFORM PROCESS FOR PATH FORMATION

摘要

PROBLEM TO BE SOLVED: To determine a path which connects two points together bypassing an obstacle by forming a path which extends from a start point to an end point by using a bypass which extends from a 1st point to a 2nd point on the straight line connecting the start and end points and bypasses the obstacle on the straight line. SOLUTION: A CPU sets a retrieval range E0 (range which has a straight line L set vertically and horizontally and is expanded by a clearance valueδ5) containing the straight line connecting the start point d1 and end point d2, and retrieves obstacles A and B on a screen overlapping with the retrieval range E0 and specifies, for example, the obstacle A as an object to be processed. The CPU finds an offset contour line (position at a distance of clearanceδfrom the contour line of the obstacle A) AO surrounding the specified object A and finds the intersections d3 and d4 of the straight line L and offset contour line AO. The CPU traces the offset contour line AO clockwise and counterclockwise from the intersection d3 to decide a short path among paths reaching the intersection d4 as a bypass.