| 摘要 |
<p>PROBLEM TO BE SOLVED: To efficiently remove redundant paths from a combination of all paths when determining the transfer paths of a transfer unit that moves along net transfer paths and to select a path free of a backward move, detour move, and duplicated move. SOLUTION: A branch unit that searches for a path is selected as an origin (step S102), and a vector V0 from the origin to a destination is set (step S105). The angleθbetween vector V1 from the origin to a connection point and vector V0 is obtained (step S107). If the angleθis 90 deg. or less, the path is recorded as a candidate for a path (step S109). The processing is repeated by resetting the connection point, which has been recorded as the candidate, as the origin.</p> |
