| 摘要 |
PURPOSE:To search an optimum route in an extremely short time by searching the optimum route in the from of a parallel processing in each moving robot. CONSTITUTION:When a work request is generated in some work point, it is transferred to a central station 11, and the central station 11 instructs to search an optimum route to all moving robots 12-k being in holding, or all moving robots 12-k in a system. A CPU 22 of the moving robot 12-k to which the search has been instructed searches a route extending from a start work point (namely, its own present position) S to an object work point G by a vertical searching method or a horizontal searching method, and transfers it to the central station 11. The central station 11 compares evaluation values which have been sent from each moving robot 12-k, and sends a moving instruction to the moving robot 12-k which has sent the best evaluation value. |
