| 摘要 |
<p>PURPOSE:To search a shortest-time route and to evaluate the change of an advancing direction as time having real actions by deciding the evaluation of route selection based on time required for move in the case of searching the route based on stored map information. CONSTITUTION:An evaluation function for selecting a node Vj to next advance from a node Vi as the reference of the route search is defined by an expression as follows; H (Vi,Vjx)=Tgx+Tlx+Tdx+Tox. In this expression, Vjx shows a candidate node to be next selected and tgx shows time for travel a linear distance from a candidate node Vjy to the destination (goal). Tlx shows time for traveling from the node Vi to the candidate node Vjx, Tdx shows posture change time for traveling from the posture of the node Vi to that of the candidate node Vjx, and Tox shows time to limit the other travel. Thus, a CPU 2 can search the shortest-time route and can evaluate the change of the advancing direction as the time having real actions. Further, it is possible to consider a time loss caused by any special condition.</p> |
