| 摘要 |
PURPOSE:To attain the fast and automatic formation of a travelling route by obtaining each contour of a travelling unable area from an area dividing picture and deciding the travelling route based on the shorter one of two adverse virtual routes set along the outside of said contour. CONSTITUTION:A travelling environment diagram 6 is supplied to a picture processor 2 via a camera 1, etc., and then binary coded with the appropriate threshold value. Thus the 1st binary picture is obtained to show a travelling enable area and other areas and a start points S and a destination point O are supplied on this picture by a cursor, etc. Then an area is divided for the binary picture where a travelling enable space is set at 1 with other areas set at O. Then it is known whether the travelling is possible or not between both points S and O by confirming that these points exist in the same area. While an area is also divided for another binary picture where the travelling enable area and others are set at 0 and 1 respectively. Then the density values (1)-(3) are given to those divided areas, i.e., a rough hatch part, a checkered part and a fine hatch part respectively.
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