To optimize movement of a four-dimensional navigation object which performs a complicated motion in fluid.
A searching unit 11 finds an optimized passing point to further optimize an evaluation function value under a restricting condition as an optimized solution in an area in the vicinity of a target point. As for midway points, a first midway point WP0 and a second midway point WP1 pointed on a side closer to a target point WPsafe than the first midway point WP0. The search unit 11 finds an optimized passing point S1 to further optimize the evaluation function value as the optimized solution in a vicinity area of the second midway point WP1 in the middle of moving of a navigation main body 101 from a current location Q to the first midway point WP0. The optimum solution is smoothly and flexibly found in the vicinity area.
MIZOGUCHI MASANOBU
SUZUKI SHINJI
UEDA SATOSHI
Keisaku Nakao
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