| 摘要 |
PROBLEM TO BE SOLVED: To generate a moving route for a movable body that satisfies both of safety and efficiency.SOLUTION: A route planning method for a movable body that takes rotation operation of a rotatable sensor provided to the movable body into consideration as costs comprises the steps of: acquiring a sensor direction of the rotatable sensor; extending a search branch from a destination and generating route points; extending the search branch such that route points generated in past time fall within a sensor measurement range and determining a moving speed while determining the sensor direction; calculating total costs of calculated rotation costs of the sensor and moving time costs of the movable body on the basis of a sensor angle acquired; selecting the search branch by which the total costs is minimized and generating new route points when the search branch fails to reach a current place of the movable body; and repeating extension of the search branch until the search branch reaches the current place of the movable body. |
