| 摘要 |
PROBLEM TO BE SOLVED: To provide a route-planning device which performs quick computation for route planning and smoothes a moving route of a mobile object, and to provide a route-planning method. SOLUTION: The route-planning device 1, which plans a route of a mobile object, is provided with a moving route-smoothing part 21 which smoothes a moving route of a mobile part of a robot by using a ternary polynomial function T(x) having three areas of a functional value, that is, the increasing area, the constant area and the decreasing area. The smooth movement route of the mobile object can be quickly calculated by smoothing the time differential quantity at positions of a mobile object on a moving route with the ternary polynomial function T(x). COPYRIGHT: (C)2009,JPO&INPIT
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