Title:
ROUTE SEARCHING DEVICE ADOPTING TIME AXIS INTO SEARCHING SPACE
Document Type and Number:
Japanese Patent JP3218865
Kind Code:
B2
Abstract:
PURPOSE: To search a route of the lowest cost in a route searching device for a moving robot by adopting the knowledge of an event to be timewisely changed into the search of the route and accurately judging the possibility of arrival.
CONSTITUTION: In the route searching device including the description of maps and the information of a mobile target and capable of searching a route of a moving robot by adding a time axis to two-dimensional or three-dimensional searching spatial axes to be used for searching the route of the moving robot and substituting an event in the spatial axes for an event to be timewisely changed, the generation probability of an undefined element is used for calculating the cost of an event element substituted by the event on the spatial axes in searching time and allowed to be described only by probability. A different coefficient in accordance with the quality and quantity of influence upon the route search of each event on the spatial axes is multiplied. An area less than a prescribed value out of the distribution area of the generation probability set up in each event is cut out to calculate the cost. The cost of the area where is not cut out is defined at a fixed value in this cost calculation.
Inventors:
Asahi Kawamura
Hiroyuki Okada
Shinro Suematsu
Hiroyuki Okada
Shinro Suematsu
Application Number:
JP14649394A
Publication Date:
October 15, 2001
Filing Date:
June 28, 1994
Export Citation:
Assignee:
富士通株式会社
International Classes:
G05D1/02; G06N3/00; G06F15/18; (IPC1-7): G05D1/02; G06N3/00
Domestic Patent References:
| JP7225612A |
Attorney, Agent or Firm:
Junichi Yokoyama
Previous Patent: 懸吊式濾過吸収器
Next Patent: METHOD AND DEVICE FOR PREPREPARATION PRIOR TO SCANNER DECOMPOSITION
Next Patent: METHOD AND DEVICE FOR PREPREPARATION PRIOR TO SCANNER DECOMPOSITION