| 摘要 |
<p>The objective of the present invention is to treat a switchback point which is upon a driving path and is in front of a loading point as a moving point which moves in position according to movement in position of the loading point in designating initial position information thereof. On the basis of the initial position information of the designated switchback point and the position information of the loading point, information of the relative positional relationship between the loading point and the switchback point is generated. If the position of the loading point moves, then on the basis of the position information of the loading point after movement of the position, information of the orientation of an unmanned vehicle at the loading point, and information of the relative positional relationship A, a new switchback point is set at a position where the relative positional relationship can be maintained. When the initial position of the switchback point is designated, then on the basis of the initial position information of the switchback point, a driving path through the designated switchback point to the loading point is generated, whereupon if the position of the loading point moves, a driving path through the new switchback point to the loading point after movement of the position is generated. In addition, the switchback point is designated as a fixed point that does not move in position.</p> |
