| 摘要 |
PROBLEM TO BE SOLVED: To search a route, by which the time from the start of a mobile robot at a starting point to the stop at an arriving point with a prescribed position accuracy is shortest, as the optimum route. SOLUTION: In map data used for planning the route, a stop target node N303 is automatically prepared at a point away from a reference node N3 through the same lane for a fixed guide traveling distance (the distance for providing the prescribed position accuracy without performing any precise control operation when the mobile robot stops). A move starting node N305 is a node for changing the lane to the stop target node N303 and exists on a lane L2 facing a lane L1 where the stop target node N303 exists. The move starting node N305 is set at a point away from the intersection of a perpendicular line, which drawn from the stop target node N303 onto the counter lane L2, and the lane L2 for a fixed distance (lane change distance). Since the mobile robot performs guide traveling just for the fixed distance while depending on guides, any precise control operation is not required and the route for most shortening the time is searched. |
