| 摘要 |
PROBLEM TO BE SOLVED: To obtain a method and an apparatus in which a going-around route is searched efficiently by a method wherein the center of gravity of a polygon formed by connecting respective nodes is used as the center, angles up to the respective nodes from a starting point are found, the respective nodes are connected in the order of the smaller to larger angles from the node in the starting point and the going-around route is generated. SOLUTION: An apparatus is composed of an input part 1 to which going-around node information is input, of a control part 3 which processes the search of a going-around route on the basis of the input information and of an output part 5 which outputs the going-around route. The control part 3 is constituted of a center-of-gravity computing and processing part 9, of a angle computing and processing part 11 and of a going-around-route generating and processing part 13. When the node information is input to the control part 3 from the input part 1, the center-of-gravity computing and processing part 9 first fins the center of gravity of a polygon obtained by connecting all nodes. Then, the angle computing and processing part 11 finds angles up to the respective nodes from a starting point while the center of gravity is used as the center. The going-around-route generating and processing part 13 sorts the angles, and it generates a going-around route by connecting the respective nodes in the order of the smaller to larger angles from the starting point so as to be output from the output part 5 as a shortest going-around route. |
