| 摘要 |
PROBLEM TO BE SOLVED: To modify a route to a route in which a mobile body contact with no obstacles while preventing an event that a calculation is disabled.SOLUTION: A route modification device performs: searching input route data for route data with which a total evaluation function takes an extremum, the function used for calculating a total evaluation value that is produced by evaluating a route described by the route data; calculating a route length evaluation value related to a route length, a separation distance evaluation value related to a separation distance between the mobile body and obstacle, and a total evaluation value from at least the route length evaluation value and the separation distance evaluation value; and, for a route in the midst of a calculation, the route causing the mobile body to interfere with an obstacle, calculating a route length evaluation value using a first route length evaluation function and calculating a separation distance evaluation value using a first separation distance evaluation function. The first route length evaluation function calculates a route length evaluation value so that a route length equals to a pre-set first length; and the first separation distance evaluation function calculates a separation distance evaluation value that is finite when the mobile body interferes with an obstacle. |
