A path searching apparatus includes: a path searching unit that searches for an optimal path of a movable body that performs traveling from a start node to a goal node by performing a path searching process based on A-Star algorithm, and a predicting unit that predicts a surrounding situation of the movable body at each of times in future. The path searching unit determines whether a first surrounding situation involves a change from a second surrounding situation, on a basis of the predicted surrounding situation, and upon determining that the first surrounding situation involves the change, updates an estimated smallest cost value h* of a node on which the searching has been already performed, on a basis of the first surrounding situation.
Path searching apparatus, path searching method, and recording medium
28.05.2019
Patent
Elektronische Ressource
Englisch
PATH SEARCHING APPARATUS, PATH SEARCHING METHOD, AND RECORDING MEDIUM
Europäisches Patentamt | 2017
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