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Title:
ROUTE PLANNING METHOD, ROUTE PLANNING UNIT, AND AUTONOMOUS MOBILE DEVICE
Document Type and Number:
WIPO Patent Application WO/2010/026710
Kind Code:
A1
Abstract:
Provided is a route planning unit capable of previously grasping route clearances at points of passage on a planned movement route. The route planning unit (5) is provided with a global map acquisition section (31) for generating a global map in which an obstacle area (300) in which an obstacle exists is shown, an extended area generation section (32) for generating an extended obstacle area (320) and three extended areas (321-323) by extending the outline of the obstacle area (300) included in the global map in stages, an integration map generation section (33) for generating an integration map by superposing and integrating the extended obstacle area (320) and the three extended areas (321-323), a movable area extraction section (34) for extracting a movable area (340) from the integration map and thinning the movable area, and a route planning section (35) for acquiring a route clearance at a sub goal (360) on a movement route (350) according to the extended area (321-323) to which the sub goal (360) belongs on the integration map when planning the movement route (350) from the thinned movable area (341).

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Inventors:
TANAKA SHOJI (JP)
SHITAMOTO HIDEO (JP)
Application Number:
PCT/JP2009/004052
Publication Date:
March 11, 2010
Filing Date:
August 24, 2009
Export Citation:
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Assignee:
MURATA MACHINERY LTD (JP)
TANAKA SHOJI (JP)
SHITAMOTO HIDEO (JP)
International Classes:
G05D1/02
Foreign References:
JP2006107475A2006-04-20
JPH05250023A1993-09-28
JP2006239844A2006-09-14
JP2008152380A2008-07-03
JPH07129238A1995-05-19
JP2006350776A2006-12-28
JP2005309990A2005-11-04
JPH05297937A1993-11-12
JP2007213111A2007-08-23
JPH07129238A1995-05-19
Other References:
See also references of EP 2343617A4
Attorney, Agent or Firm:
UEDA, KAZUHIRO (JP)
Kazuhiro Ueda (JP)
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