| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that, in a conventional method of planning a running route of an unmanned mobile vehicle, there is the risk that it is difficult to set a fitting area, for example, when a road width becomes rapidly wider.SOLUTION: In a method of planning a running route of an unmanned mobile vehicle V, an allowable running area Q is determined in accordance with data of environment recognition means S, a prescribed fitting area FA is set within the allowable running area Q, and a running route R is determined within the area FA. Contact rates Rt of the fitting area FA to right and left area ends of the allowable running area Q are calculated. When the contact rate Rt on one of right and left sides of the fitting area FA is equal to or lower than a prescribed value Rtr in all trials of fitting, the fitting area FA is set so as to maximize the contact rate Rt on the other of right and left sides, and the running route R is set within this fitting area FA. Thus, the fitting area FA is set to continue satisfactorily running even when the width of the allowable running area Q increases rapidly. |
