| 摘要 |
PROBLEM TO BE SOLVED: To generate an optimum route and to optimize a traveling route during travel in an autonomous movement route generation device and an autonomous movement device using the autonomous movement route generation device. SOLUTION: This autonomous movement device 1 comprises a storage means 2 for storing a map, a plurality of nodes, and a travel parameter and a route generation means 3 for generating a route for autonomous movement from the nodes. The storage means 2 and the route generation means 3 constitute the route generation device 4. The route generation device 4 generates a route with a minimum traveling cost by selection of a start point node and an endpoint node, searching for a route between the both nodes based on algorithm A*, and reselecting the start point node and the endpoint node. The autonomous movement device 1 recognizes its own position from information obtained by an environment recognition means 6 and the map, and based on the route generated by the route generation device 4 while avoiding an obstacle or addition of a node, moves to a target position while generating a route avoiding the obstacle. COPYRIGHT: (C)2005,JPO&NCIPI
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