PATH PLANNING DEVICE, PATH PLANNING METHOD, AND MOVING BODY

摘要

To provide a path planning device and a path planning method capable of, when installed in a moving body such as a robot, exhibiting a natural moving action, and a moving body having such a path planning device installed therein. A path planning device includes a path guide area setting unit that sets a first movement prohibited area for assisting moving path generation on one or both sides of the robot, and a path decision unit that determines a path to a target position such that the robot does not move inside the path guide area. The path guide area setting unit sets the path guide area such that its perimeter passes through the center of that robot.