| 摘要 |
A delivery route for an article is automatically generated without the need for training a delivery robot for its path of movement. A spatial structure in which the delivery robot is movable is described from a delivery start position to a delivery destination position according to a quadtree method, and stored as a map in a memory. A safety connection weight calculator calculates the weight of a connection relative to the safety of a direction of delivery, by referring to the stored map, and an objective direction connection weight calculator calculates the weight of an objective direction connection taking into account a shortest distance in the direction of delivery, by referring to the stored map. A preceding direction of delivery is considered from an output of a neutral network processor, and established in the neutral network processor via a feedback connection weight setting unit. The neutral network processor autonomously generates optimum delivery route data according to the error backpropagation learning algorithm.
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