| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce man-hour for planning an action route by eliminating excessive calculation in a C-space. <P>SOLUTION: A device for generating a route includes an initial position storage unit, a target position storage unit, a present position detection unit, a route storage unit, a first candidate determination unit obtaining present position adjacent configuration points, a second candidate determination unit obtaining an interference point adjacent configuration point adjacent to an interference point against an obstacle among the present position adjacent configuration points, an interference check unit determining whether the present position adjacent configuration point is the interference point or not, and a distance candidate determination unit selecting a configuration point out of the present position adjacent configuration points so as to approach a target configuration point from the present position. When the distance candidate configuration point selected by the distance candidate determination unit is not the interference point at the present position, the device generates a straight traveling mode route. When the distance candidate configuration point is the interference point, the device generates a boundary trailing mode route. <P>COPYRIGHT: (C)2012,JPO&INPIT |
