To suitably set a route for which a vehicle attitude is designated.SOLUTION: A route setting device 10 sets a three-dimensional route of a moving vehicle from a start point SP to a goal point GP. The route setting device 10 sets, as calculation conditions for calculating a route, each position of the start point SP and goal point GP, the attitude of the moving vehicle at each of said positions and the slewing radius of the moving vehicle, generates a Dubins path, as a two-dimensional route R1, from the start point SP to the goal point GP on two-dimensional plane, on the basis of the calculation conditions, and generates a Dubins path, as a three-dimensional route R2, from the start point SP to the goal point GP on a virtual plane, in which the route length of the generated two-dimensional route R1 constitutes the horizontal axis and an axis perpendicular to the two-dimensional plane constitutes the vertical axis.SELECTED DRAWING: Figure 2

    【課題】機体の姿勢が指定された経路を好適に設定する。【解決手段】経路設定装置10は、スタート地点SPからゴール地点GPまでの移動体の三次元の経路を設定する。経路設定装置10は、経路を算出する算出条件として、スタート地点SP及びゴール地点GPの各位置、当該各位置における移動体の姿勢、移動体の旋回半径を設定し、算出条件に基づいて、二次元平面におけるスタート地点SPからゴール地点GPまでのDubinsパスを二次元経路R1として生成し、生成された二次元経路R1の経路長を横軸、二次元平面に垂直な軸を縦軸とした仮想平面におけるスタート地点SPからゴール地点GPまでのDubinsパスを三次元経路R2として生成する。【選択図】図2


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    Titel :

    ROUTE SETTING DEVICE, ROUTE SETTING METHOD, AND ROUTE SETTING PROGRAM


    Weitere Titelangaben:

    経路設定装置、経路設定方法及び経路設定プログラム


    Beteiligte:
    ITABASHI NAOAKI (Autor:in) / KONO MITSURU (Autor:in)

    Erscheinungsdatum :

    2021-04-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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