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
2019-05-28
Patent
Electronic Resource
English
PATH SEARCHING APPARATUS, PATH SEARCHING METHOD, AND RECORDING MEDIUM
European Patent Office | 2017
|European Patent Office | 2024
|European Patent Office | 2019
|European Patent Office | 2017
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