| 摘要 |
PROBLEM TO BE SOLVED: To provide a simulation system for producing a traveling path of a mobile body for simple and autonomous traveling with less capacity of a memory area for producing a virtual environment, and with less calculation ability approximately equal to that of a small computer for calculating movement of the virtual mobile body. SOLUTION: In an x-y coordinate system for converting map data into data relating to a grid-like cell along an x-axis and a y-axis of the x-y coordinate system, a traveling path is expressed by four elements comprising a x-coordinate x(t) and a y-coordinate y(t) in an elapsed time t of a virtual mobile body along the traveling path, a forward direction kwh(t) of the mobile body, and a next moving direction kr(t) with the forward direction of the mobile body as a reference. A virtual environment is simply designed, and a reference behavior for learning the virtual mobile body by a behavior time (t) and one behavior is realized in a form to copy steering of a vessel, so that burdens of the capacity of the calculation speed of the memory can be reduced. COPYRIGHT: (C)2007,JPO&INPIT
|
