| 摘要 |
PROBLEM TO BE SOLVED: To shorten time for calculating a movement plan in a case where plural capture patterns exist.SOLUTION: A route search device, for use in searching for a movement route of a movable body for transporting a capture target by capturing it, includes: capture position selection means for selecting a capturing position where a route movable from an initial position exists, from among plural capturing positions for capturing the capture target within a given space; transport route search means for searching for a transport route in transporting the capture target from the capturing position to a target position within a searching space allowed to move the capture target in the state of capturing it at the capturing position in the case of the capture position selection means selecting the capturing position. Further, the capture position selection means selects a yet-to-be-selected capturing position along with the search processing of the transport route search means. |
