To obtain a route where a mobile body can smoothly travel with high flexibility.SOLUTION: A mobile body which travels from a current position towards a target position includes: a first zone candidate search part which searches for a plurality of first zone candidates with which the mobile body can travel from the current position within preset first set time; a second zone candidate search part which, for each end point of the first zone candidates, searches for a plurality of second zone candidates with which the mobile body can travel from the end point within preset second set time; a target direction recognition part which recognizes a target direction as a direction where the target position lies; an obstacle position recognition part which detects the position of an obstacle around the mobile body; and a route determination part which determines, based on the target direction and the position of the obstacle from among the plurality of first zone candidates and the plurality of second zone candidates, a first zone and a second zone used as a route where the mobile body moves.SELECTED DRAWING: Figure 4

    【課題】柔軟性が高くスムースに移動体が走行できる経路を得ることができる。【解決手段】 現在位置から目標位置に向かって走行する移動体であって、予め設定された第一設定時間内に移動体が現在位置から走行可能な第一区間候補を複数探索する第一区間候補探索部と、予め設定された第二設定時間内に移動体が第一区間候補の終点から走行可能な第二区間候補を第一区間候補の終点ごとに複数探索する第二区間候補探索部と、目標位置の存在する方向である目標方向を認識する目標方向認識部と、移動体の周囲の障害物の位置を検出する障害物位置認識部と、目標方向及び障害物の位置に基づいて、複数の第一区間候補及び複数の第二区間候補の中から移動体が走行する経路として用いられる第一区間及び第二区間を決定する経路決定部と、を備える。【選択図】図4


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    Title :

    MOBILE BODY AND MOBILE BODY ROUTE DETERMINATION METHOD


    Additional title:

    移動体及び移動体の経路決定方法


    Contributors:

    Publication date :

    2022-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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