PURPOSE: To efficiently, surely and visually retrieve an optimum route in a short time by generating routing free spaces (cells) based on heuristic rules so that its number is kept to an irreducible minimum, generating connection relation among the cells and outputting the results to a computer.
CONSTITUTION: An arithmetic processor is provided with an arithmetic part 5a, a processing procedure storage part 5b, an input part 5c, a picture data output part 5d, a plant obstacle graphic data retrieval code output part 5e, a plant obstacle graphic data input part 5f, a free cell graphic data output part 5g, a free cell graphic data input part 5h, a cell connection relation data output part 5i, a cell connection relation data input part 5j and an intermediate data storage part 5k. Then, based on a work area to be the object of route retrieval and obstacle graphics provided inside, the routing free spaces (cells) are generated based on the heuristic rules so that the number is kept at the irreducible minimum and also the connection relation among the cells is generated.
KAWABATA JUNICHI
ONO SATORU
KIRIYAMA KAZUHISA
