| 摘要 |
PROBLEM TO BE SOLVED: To provide a route-planning device for planning a moving route that enables an autonomous mobile device moving along a moving route, to move smoothly. SOLUTION: The route-planning device 3 includes a global map acquiring unit 31 for acquiring a global map showing an obstacle area 300, with an obstacle present therein; an extended area generation unit 32, generating an extended obstacle area 321 by extending the obstacle area 300; a movable area extraction unit 33 extracting a movable area 340 from the global map and thinning it; a route-planning unit 34, planning a moving route 350 from a thinned movable area 341; a straightening unit 35 straightening the route 350 without interfering with the obstacle area 321; and a smoothing unit 36, smoothing the straightened route 350 without interfering with the obstacle area 321. COPYRIGHT: (C)2010,JPO&INPIT
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