ROUTE PLANNING METHOD, ROUTE PLANNING UNIT, AND AUTONOMOUS MOBILE DEVICE

摘要

Provided is a route planning unit capable of previously grasping route clearances at points of passage on a planned movement route. The route planning unit (5) is provided with a global map acquisition section (31) for generating a global map in which an obstacle area (300) in which an obstacle exists is shown, an extended area generation section (32) for generating an extended obstacle area (320) and three extended areas (321-323) by extending the outline of the obstacle area (300) included in the global map in stages, an integration map generation section (33) for generating an integration map by superposing and integrating the extended obstacle area (320) and the three extended areas (321-323), a movable area extraction section (34) for extracting a movable area (340) from the integration map and thinning the movable area, and a route planning section (35) for acquiring a route clearance at a sub goal (360) on a movement route (350) according to the extended area (321-323) to which the sub goal (360) belongs on the integration map when planning the movement route (350) from the thinned movable area (341).