| 摘要 |
The present invention addresses the problem of providing a method of generating a path which allows an autonomous vehicle to smoothly travel, by providing information regarding boundary points of a region and information regarding an obstacle in the region, and thereby designing a route. The method of designing a route in a region, for an autonomous vehicle which performs work while traveling in the region, is characterized by designing a traveling route for the autonomous vehicle by the steps of: acquiring boundary points of the region and boundary points of an obstacle existing in the region; approximating the region to a polygonal shape by using a representative point selected from among the acquired boundary points; dividing the region approximated to the polygonal shape into a plurality of trapezoidal or triangular shapes; merging regions other than the region in which the obstacle exists, among the plurality of divided regions; generating paths in the merged regions and paths connecting the merged regions to each other; and connecting the paths in the regions and the paths between the regions to one another. |
