| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving body route planning method and a moving body route planning device, capable of preventing frequent switchover of routes due to environment recognition noise autonomously recognized and changes in position and attitude.SOLUTION: Provided is a route planning method for an autonomously movable moving body having an obstacle sensor 12 capable of detecting a front obstacle position. By a computer, a local map including the obstacle position is set in a search area C in front of the moving body from the obstacle position due to the obstacle sensor (S1), a correction route 6 obtained by correcting a previous route 4 is searched in the search area C in which local maps are set (S4) and a new route is set from these (S5 to S8).SELECTED DRAWING: Figure 5 |
