PROBLEM TO BE SOLVED: To provide an autonomous movable body route creation assist device, an autonomous movable body route creation assist method, and a program enabling even an unskilled operator to easily create a migration route.SOLUTION: If a first coordinate serving as a start point of a search area, a second coordinate serving as an end point of a segment passing through the first coordinate, and a third coordinate serving as an end point of the search area are input (Step SA1), then length of a first segment connecting the first coordinate to the third coordinate and length of a second segment connecting the second coordinate to the third coordinate are calculated (Step SA2), and the search area of a quadrilateral shape is determined while the shorter segment serves as one side of the search area (Step SA3). Next, auxiliary segments in parallel to a third segment connecting the first coordinate to the second coordinate are generated on the determined search area at predetermined length intervals (Step SA4), and coordinates of end points of each of the auxiliary segments are set (Step SA6). Subsequently, the end points are connected into curved shapes so as to connect the third segment and all the auxiliary segments in series, thereby creating a migration route (Step SA7).

    【課題】熟練のオペレータでなくても容易に移動経路を作成することのできる自律式移動体の経路作成支援装置及び方法並びにプログラムを提供することを目的とする。【解決手段】探索領域の始点である第1座標、該第1座標を通る線分の端点となる第2座標、探索領域の終点である第3座標が入力されると(ステップSA1)、第1座標と第3座標とを結ぶ第1線分及び第2座標と第3座標とを結ぶ第2線分の長さをそれぞれ算出し(ステップSA2)、短い方の線分を探索領域の一辺として定めて四辺形の探索領域を決定する(ステップSA3)。続いて、決定した探索領域上に第1座標と第2座標とを結ぶ第3線分と平行な補助線分を所定距離間隔で生成し(ステップSA4)、このときの各補助線分の各端点の座標を設定する(ステップSA6)。続いて、第3線分及び各補助線分を全て直列に接続するように端点同士を曲線で接続して移動経路を作成する(ステップSA7)。【選択図】図13


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    Title :

    AUTONOMOUS MOVABLE BODY ROUTE CREATION ASSIST DEVICE, AUTONOMOUS MOBILE BODY ROUTE CREATION ASSIST METHOD, AND PROGRAM


    Additional title:

    自律式移動体の経路作成支援装置及びその方法並びにプログラム


    Contributors:

    Publication date :

    2015-06-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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