| 摘要 |
An apparatus for improving the reliability of a course generator of a moving body and the efficiency of the moving body. When the tangent (53) of a scheduled course (50) at its branch point (PS) is in parallel with a line segment (54) coincident with the traveling direction of the moving body (20) at the end point (PL) of a branch course (52), the branch course (52) is generated from a cubic curve having one extreme coincident with the branch point (PS), and the tangent of the cubic curve at this extreme coincides with the tangent (53) of the scheduled course (50) at the branch point (PS). The other extreme of the cubic curve coincides with the end point (PL) of the branch course (52), and the tangent of the curve at this extreme coincides with a line segment (54) which in turn coincides with an end point traveling direction of the moving body. A ground monitor station (40) guides and travels the moving body (20) along a modification of the branch course. When guided for traveling, the moving body (20) generates the modification of the branch traveling course. When any of the moving bodies generates the data of the modified course and transmits it to the ground monitor station (40) in this way, the ground monitor station (40) again generates the scheduled course and the branch course on the basis of the data of the modified course, and transmits the re-generated data of the course to each moving body.
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