| 摘要 |
PURPOSE:To omit the redundant data on a moving route by dividing an area with meshes in the form of a map together with obstacles described in the lattice point coordinates and searching the route by said lattice point coordinates. CONSTITUTION:A processor CPU 2 containing a map memory 1a and a data memory 4 performs the route search processing and the route after-processing in addition to the map rewriting jobs of the memory 1a and the transmission/ reception of signals between a selected route and a self-traveling vehicle 6. Furthermore a data input part 3 and a radio interface part 5 are added to the CPU 2 to perform the input of various commands, etc., and the transfer of data to the vehicle 6. Thus the vehicle 6 travels in a moving area MA. Then it is possible to perform the after-processing where the obstacles OB are described and analyzing a pattern of the searched moving route via a mesh-divided map to omit the redundant route coordinates. As a result, the shortest route is obtained with a small quantity of data.
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