PATH FINDING DEVICE, SELF-PROPELLED WORKING APPARATUS, AND NON-TRANSITORY COMPUTER READABLE MEDIUM

摘要

A path finding device includes a search unit, a calculation unit, and a selection unit. The search unit finds paths to reach a goal point from a start point while detouring around a stationary obstacle. The calculation unit calculates, for each of the found paths, an encounter probability that is a probability of encountering a non-stationary obstacle using previously accumulated non-stationary obstacle information. The selection unit selects a path with a lowest encounter probability among the found paths.

主权项

1. A path finding device comprising:
a search unit that finds paths to reach a goal point from a start point while detouring around a stationary obstacle; a calculation unit that calculates, for each of the found paths, an encounter probability that is a probability of encountering a non-stationary obstacle using previously accumulated non-stationary obstacle information; and a selection unit that selects a path with a lowest encounter probability among the found paths.