| 摘要 |
<p>PURPOSE:To obtain an optimal operation path to an objective spot in a short time by dividing an objective operation area into large areas, and searching the optimal path by separating the area to the boundary of the area. CONSTITUTION:A start spot 1, objective spot 2, first area (spatial block) 3 obtained by dividing the objective operation area into the several large areas, final spatial block 4, boundary face 5 of the first spatial block, boundary face 6 of the final spatial block, operating path 7 from the start spot 1 to the objective spot 2, rectangular area (position block) 8 obtained by subdividing the objective operation area like a mesh and direction 9 movable from the position block to an another position block. Thus, the objective operation area is divided into the serval areas, and the optimal path value to the position block 8 at the boundary of the divided area is calculated. Then, the calculation after the boundary for the path except the optimal path reaching the position block 8 at the boundary is excluded.</p> |
