| 摘要 |
A route generating device has an elevation map memory storing elevation data for subareas defined by division of an operations zone. A gradient map creating section calculates gradient data based on the elevation data and creates a gradient map from the gradient data. An obstruction region extracting section extracts an inclination obstruction region based on the gradient map. A traveling route generating section obtains a travelable region based on the inclination obstruction region. All possible traveling routes is calculated based on the travelable region. A route evaluating section evaluates the traveling routes and selects an optimum route from the current position to the destination. The gradient map is created based on the elevation data, it is possible to generate an optimum route without three dimensional obstruct such as a fall, a tumble and any other inability in movement of the movable object.
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