MOVING BODY ROUTE PLANNING METHOD AND MOVING BODY ROUTE PLANNING DEVICE

摘要

PROBLEM TO BE SOLVED: To provide an autonomously movable moving body route planning method and an autonomously movable 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 10 including an obstacle sensor 12 that can detect a front obstacle position. A local map including the obstacle position is set in a search area C in front of the moving body 10 from the obstacle position detected by the obstacle sensor 12 (S1). Next, one or a plurality of temporary target points 5 is set each at a position through which the moving body 10 can see from a present position S without being obstructed by an obstacle 3 (S2). One temporary target point 5 closest to a direction of a previous route 4 just before a control cycle is selected as an actual target point 6 (S4), and a route from the present position S to the actual target point 6 is generated as a new route 9 (S5).