To suppress the calculation amount of route search from increasing in correspondence to the expansion of the target region of route search.SOLUTION: This route search device comprises: a provisional route search unit 133 for searching for a provisional route from a start position to a target position in a graph structure having a node corresponding to each of a plurality of subregions obtained by dividing region data that represents a movable region and an edge that connects between the nodes of adjacent subregions; a search target region setting unit 134 for selecting, on the basis of the provisional route, one of the plurality of subregions as a search target region in which to search for a movement route; and a movement route search unit 133 for searching for a movement route in a graph structure having a node corresponding to each of a plurality of second subregions which are a plurality of subregions obtained by re-dividing the subregion selected as the search target region and an edge that connects between the nodes of adjacent second subregions.SELECTED DRAWING: Figure 3
【課題】経路探索の対象領域が広くなるのに伴う経路探索の計算量の増大を抑制する。【解決手段】経路探索装置は、移動可能領域を表す領域データを分割して得られる複数の部分領域の各々に対応するノードと、隣接する部分領域のノード間を接続するエッジと、を有するグラフ構造において、開始位置から目標位置に至る暫定経路を探索する暫定経路探索部133と、暫定経路に基づいて、移動経路を探索する探索対象領域として複数の部分領域のいずれかを選択する探索対象領域設定部134と、探索対象領域として選択された部分領域を再分割して得られる複数の部分領域である複数の第2の部分領域の各々に対応するノードと、隣接する第2の部分領域のノード間を接続するエッジと、を有するグラフ構造において、移動経路を探索する移動経路探索部133と、を備える。【選択図】図3
ROUTE SEARCH DEVICE, ROUTE SEARCH METHOD, AND ROUTE SEARCH PROGRAM
経路探索装置、経路探索方法及び経路探索プログラム
2022-10-12
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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