| 摘要 |
PROBLEM TO BE SOLVED: To provide a route generation method and device capable of generating a traveling route on which a mobile object capable of autonomously traveling can travel at a high speed.SOLUTION: The route generation device (A) generates a local map 4; (B) generates on the local map 4 a way line 5 connecting via points 2a by a linear line in an order in which the via points are passed through; (C) generates a search point 6a advanced by a specified interval &Dgr; in order on the way line 5; (D) sets a circle which has its center on a search line 7 passing through the search point 6a and orthogonal to the way line 5, does not interfere with an obstacle 3, and is equal to or larger than a standard circle B having a size to cover a mobile object A, as a candidate circle 8; (E) selects a candidate circle 8, in which no obstacle 3 is found on a candidate line connecting an adjacent point 9b on route and the center of the candidate circle 8 and the directions of an adjacent line 9c on route and the candidate line are within a specified angle, as a circle 9a on route among the candidate circles, and (F) generates a traveling route of the mobile object along a line 9c on route connecting in order points 9b on route which are the centers of the circles 9a on route. |
