JP2016057660A - Moving body route planning method and moving body route planning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving body route planning method and a moving body route planning device, capable of preventing frequent switchover of routes due to environment recognition noise autonomously recognized and changes in position and attitude.SOLUTION: Provided is a route planning method for an autonomously movable moving body having an obstacle sensor 12 capable of detecting a front obstacle position. By a computer, a local map including the obstacle position is set in a search area C in front of the moving body from the obstacle position due to the obstacle sensor (S1), a correction route 6 obtained by correcting a previous route 4 is searched in the search area C in which local maps are set (S4) and a new route is set from these (S5 to S8).SELECTED DRAWING: Figure 5

Description

  The present invention relates to a route planning method and apparatus for a mobile body capable of autonomous movement that autonomously selects a wide route from a travelable area recognized autonomously and travels.

The maneuvering means of the moving body capable of unmanned traveling can be roughly classified into remote control, semi-autonomous traveling, and autonomous traveling.
Semi-autonomous traveling is disclosed in, for example, Patent Document 1, and autonomous traveling is disclosed in, for example, Patent Document 2.

  The remote control is a radio-controlled control means, and the operator instructs the turning direction and speed with an operation device (joystick, handle, pedal, etc.), and the moving body travels accordingly. Since the navigation screen displays a traveling direction image taken with a camera of a moving body, the operator operates the vehicle as if driving a car while looking at it.

  In semi-autonomous traveling (or command operation), the mobile body travels while recognizing a travelable region and a branch path. On the control screen, an approachable branch path recognized by the moving body mounted sensor is superimposed and displayed with an arrow or the like on an image in the traveling direction taken by the moving body mounted camera. The pilot decides whether or not to enter the branch road and gives instructions. If the driver does nothing, he does not enter any branch road and travels to the widest visible area of the travelable area recognized by the moving body.

In autonomous driving (or “waypoint maneuvering”), a point group (waypoint) on the map to be routed is given before the start of driving, and the mobile unit recognizes the area where the vehicle can travel with the mounted sensor. It will pass sequentially.
In waypoint maneuvering, the operator may instruct the start of traveling or check the camera image, but does not instruct the traveling direction during traveling.

JP 2011-170844 A JP 2011-170843 A

As described above, in the semi-autonomous traveling, the mobile body travels by autonomously selecting a wide route from the travelable area recognized autonomously.
In this case, since the conventional route planning means redoes the route planning every control cycle, frequent switching of the route occurs due to autonomously recognized environmental recognition noise and changes in the position and orientation of the moving body. There was something to do.

1 and 2 are explanatory diagrams of conventional path switching.
For example, when a stationary obstacle 3 exists in the traveling direction of the moving body 1 as shown in FIGS. 1A and 1B, it is mistakenly recognized that the position of the obstacle 3 has changed, and the path 2a to be avoided to the left and the right Therefore, a phenomenon occurs in which the route 2b to be avoided is switched. As a result, there is a possibility that the moving body 1 moves back and forth in front of the stationary obstacle 3 and finally collides with the obstacle 3.
Further, even if the environment recognition accuracy is good and the position of the recognized obstacle 3 is not changed at all, the obstacle 3 viewed from the moving body 1 is avoided as shown in FIGS. There is a possibility that a phenomenon in which the paths 2a and 2b are suddenly switched may occur due to the change in ease.

  The present invention has been developed to solve the above-described problems. That is, an object of the present invention is to provide a path planning method and apparatus for a mobile body capable of autonomous movement capable of preventing frequent switching of a path due to autonomously recognized environmental recognition noise and changes in position and posture. It is in.

According to the present invention, there is provided a route planning method for a mobile body capable of autonomous movement having an obstacle sensor capable of detecting an obstacle position ahead,
By computer
(A) From the obstacle position by the obstacle sensor, set a local map including the obstacle position in the search area in front of the moving body,
(B) A mobile route planning method characterized by searching a corrected route obtained by correcting a previous route in a search region in which the local map is set, and setting a new route from now on.

In (B) above,
(B1) In the search area, an update route from the current position is generated,
(B2) When the updated route is easier to travel than the modified route, the updated route is set as a new route, and in other cases, the modified route is set as a new route.

  In the case where the updated route in (B2) is easier to travel than the corrected route, two indexes of the corrected route and the length of the updated route and the average value of the shortest distance to the obstacle are calculated in the search area. Use to determine.

In (B) above,
(B3) A plurality of pre-correction passing points spaced apart on the immediately preceding route are set in order from the current position,
(B4) The position of the post-correction pass point is set on a straight line passing through the pre-correction pass point so that the shortest distance to the obstacle is the maximum or equal to or greater than the first threshold, and the post-correction pass in the search area A route connecting the positions of points is set as a corrected route.

  In (B3), the interval between the pre-correction passing points is set to the first interval, and the interval between the portion where the curvature is greater than the second threshold or the shortest distance to the obstacle is less than the third threshold is greater than the first interval. Set to a smaller value.

  In (B4), the correction path is set so that the correction amount of the position of each corrected passing point is not more than the fourth threshold and the maximum curvature is not more than the fifth threshold.

In (B1), the update path is within the search area.
(B1.1) First search points spaced apart in front of the moving body in the traveling direction are set, and the shortest distance to the obstacle is on a straight line passing through the first search points and orthogonal to the traveling direction of the moving body. Set the first update point with the largest distance,
(B1.2) In order from the first update point, a new search point is set at an interval in the direction connecting the previous update point and the new update point, and the update point passes through the new search point and connects the update points. Set a new update point on the perpendicular line that maximizes the shortest distance to the obstacle,
Repeat this setting as long as the new update point is in the search area,
(B1.3) A route that connects the current position of the moving object, the first update point, and the new update point in order is defined as an update route.

Moreover, according to the present invention, there is provided a path planning device for a mobile body capable of autonomous movement having an obstacle sensor capable of detecting a front obstacle position,
A search area setting unit for setting a local map including an obstacle position in a search area in front of a moving object from an obstacle position by the obstacle sensor;
A route planning apparatus for a moving body, comprising: a new route setting unit that searches a corrected route obtained by correcting a previous route in a search region in which the local map is set, and sets a new route from now on. Provided.

The new route setting unit
In the search area, an update path generation unit that generates an update path from the current position;
A route selection unit that sets the modified route as a new route when the modified route is easy to travel, and sets the updated route as the new route in other cases.

According to the method and apparatus of the present invention, a local map including an obstacle position is set in the search area ahead of the moving object from the obstacle position by the obstacle sensor, and the immediately preceding route is corrected in the search area. A correction route is searched and a new route is set from now on.
Therefore, even if there is an autonomously recognized environmental recognition noise or a change in the position or posture of the moving body, the corrected route is a modified version of the immediately preceding route and is located near the immediately preceding route. It is possible to prevent frequent switching. As a result, there is no unintended route switching, the mobile body does not move back and forth, and traveling is stabilized.

It is the 1st explanatory view showing change of the conventional route. It is the 2nd explanatory view showing the change of the conventional route. It is a whole block diagram of the moving body provided with the route planning apparatus of this invention. It is a whole lineblock diagram of the course planning device of the present invention. It is a whole flowchart of the route planning method of the moving body by this invention. It is explanatory drawing of the search method of the correction path | route by this invention. It is a figure which shows the example of the production | generation method of an update path | route.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.

FIG. 3 is an overall configuration diagram of the moving body 10 provided with the route planning apparatus 20 of the present invention.
In this figure, the moving body 10 has an obstacle sensor 12 that can detect the position of an obstacle ahead, and is configured to be capable of autonomous movement. The obstacle sensor 12 is a camera 13 and a laser sensor 14 in this example.
The camera 13 is, for example, one or a plurality of digital cameras, and images the front of the moving body 10 and outputs image data at a predetermined cycle (for example, a control cycle). For example, the position of the obstacle 3 ahead can be detected from the image data by using a pair of cameras 13 spaced apart from each other.
The laser sensor 14 is, for example, one or a plurality of laser radars, detects the position of the obstacle 3 in front of the moving body 10 (hereinafter referred to as an obstacle position), and detects the obstacle 3 in a predetermined cycle (for example, a control cycle). Output position data.
In the present invention, the obstacle sensor 12 may be either the camera 13 or the laser sensor 14 as long as the front obstacle position can be detected.

  In FIG. 3, the moving body 10 further includes a steering actuator 15, a brake / accelerator actuator 16, a vehicle control computer 17, and an antenna 18.

The steering actuator 15 changes the traveling direction of the moving body 10.
The brake / accelerator actuator 16 operates the brake and the accelerator of the moving body 10.
The vehicle control computer 17 has a function of operating and stopping the steering actuator 15 and the brake / accelerator actuator 16.
The vehicle control computer 17 further transmits and receives to / from an external remote control device (not shown) via the antenna 18 and a wireless LAN (not shown).
The remote control device includes, for example, a display unit (not shown) that displays an image of the camera 13 and a remote control means (not shown), and is configured to be able to remotely control the moving body 10.

With the above-described configuration, the moving body 10 is configured to be remotely steerable and capable of autonomous movement by the vehicle control computer 17.
In the present invention, the steering actuator 15, the brake / accelerator actuator 16, the vehicle control computer 17, the antenna 18, and the remote control device are not essential, and can be omitted.

In FIG. 3, the moving body 10 further includes a route planning apparatus 20 of the present invention. The route planning device 20 is, for example, a route planning computer (PC).
The route planning device 20 is preferably provided independently of the moving body 10, but may be mounted on the vehicle control computer 17 or mounted on a remote control device connected via a wireless LAN. Also good.

The path planning device 20 (path planning computer) receives the detection data of the obstacle sensor 12 (in this example, the camera 13 and the laser sensor 14) at a predetermined cycle (for example, a control cycle), and searches forward of the moving body 10. A local map including an obstacle position is set in region C.
The local map is output to the vehicle control computer 17, and the vehicle control computer 17 is configured to be capable of autonomous movement based on the local map.
In addition, the mobile object 10 autonomously selects a wide route in the travelable area autonomously recognized from the local map when there is no input signal from the remote control device by the route planning device 20 of the present invention. Configured to select.

FIG. 4 is an overall configuration diagram of the route planning apparatus 20 of the present invention.
In this figure, the route planning device 20 of the present invention has a storage device 21, a search area setting unit 22, and a new route setting unit 24.

The storage device 21 is a computer storage medium (RAM, ROM, hard disk, etc.), and stores the search area C.
The search area setting unit 22 sets a local map including an obstacle position in the search area C ahead of the moving body 10 from the obstacle position by the obstacle sensor 12 (in this example, the camera 13 and the laser sensor 14). The search area C is a rectangular area of 50 m × 50 m, for example, but can be set to an arbitrary size and shape as long as the obstacle position is included.
The search area C is a virtual area stored in the storage device 21 of the computer, unlike a display unit (not shown) of the remote control device. In addition, you may make this search area | region C correspond with the display range by a remote control apparatus.

  The search area C is updated every control cycle. Therefore, during the forward movement of the moving body 10, the search area C changes every control cycle. The search area C is stored in the storage device 21 of the route planning device 20 for each control cycle.

  The new route setting unit 24 searches the corrected route 6 obtained by correcting the immediately preceding route 4 (FIGS. 5 to 7, which will be described later) in the search area C in which the local map is set, and sets a new route from now on. The immediately preceding path 4 means the immediately preceding path, that is, the path before the control cycle.

In FIG. 4, the new route setting unit 24 includes an update route generation unit 25 and a route selection unit 26.
The update path generation unit 25 generates the update path 9 from the current position S in the search area C.
The route selection unit 26 sets the corrected route 6 as a new route when the corrected route 6 is easy to travel, and sets the updated route 9 as a new route in other cases. In other cases, a case where the search for the corrected route 6 is impossible or the searched corrected route 6 is difficult to travel is included.

FIG. 5 is an overall flowchart of the mobile route planning method according to the present invention.
In this figure, the mobile route planning method of the present invention comprises the steps (steps) S1 to S8.

  In step S <b> 1, a local map including the obstacle position is set in the search area C ahead of the moving body 10 based on the obstacle position by the obstacle sensor 12 (in this example, the camera 13 and the laser sensor 14).

  In step S2, an update path 9 from the current position S is generated in the search area C.

In step S3, it is determined whether or not the immediately preceding route 4 exists.
When the immediately preceding route 4 exists (Yes in step S3), the corrected route 6 in which the immediately preceding route 4 is corrected is searched (step S4). The corrected route 6 is preferably searched in the vicinity of the immediately preceding route 4.
Here, “in the vicinity of the immediately preceding route 4” means that when a certain width is assumed on both sides of the immediately preceding route 4, the corrected route 6 is included in the width. The “constant width” is preferably set to a size that allows the moving body 10 to travel without going back and forth, for example.

If the search for the corrected route 6 is successful (Yes in step S5), it is determined whether the updated route 9 is easier to travel than the corrected route 6 (step S6).
If the search for the correction route 6 is not successful (No in step S5), that is, if the search for the correction route 6 is impossible, the update route 9 is set as the new route (step S8).

In step S6, when the updated route 9 is easier to travel than the corrected route 6 (Yes), the updated route 9 is set as a new route (step S8).
Further, in the case of No in step S6, the correction route 6 is set as a new route (step S7).

In step S 6, “when the update route 9 is easier to travel than the correction route 6”, two indexes of the length of the correction route 6 and the update route 9 and the average value of the shortest distance to the obstacle 3 in the search area C Determine using.
Specifically, for example, the following (1) and (2) are determined.

(1) In the search area C, if the length of the correction route 6 is equal to or greater than the sixth threshold times the length of the update route 9, it is determined that “the correction route 6 is easy to travel”. The sixth threshold is a positive number of 1 or more, and is, for example, 1-2, preferably 1.5.
For example, in FIG. 6A described later, when there is a new obstacle 3 in the front part of the path 4 just before the upper end portion D and the correction path 6 is dead end, the extension 6a is not formed, so the correction path 6 The length (path length) is gradually shorter for each control cycle than the update path 9. Therefore, by setting the sixth threshold to 1 or more (for example, around 1.5), the path can be switched to the update path 9 before the moving body 10 reaches the dead end.

(2) In the search area C, if the average value of the shortest distance to the obstacle 3 on the correction route 6 is equal to or greater than the seventh threshold times the average value of the shortest distance to the obstacle 3 on the update route 9, It is determined that the route 6 is easy to travel. The seventh threshold is a positive number of 1 or more, and is, for example, 1-2, preferably 1.5.
For example, in FIG. 6A to be described later, there is a narrow branch path in the front part of the path 4 just before the upper end portion D, and the average value of the shortest distance to the obstacle 3 of the corrected path 6 passing through the narrow branch path is Compared with the update path 9 passing through a wide branch path, it gradually becomes smaller for each control cycle. Therefore, by setting the seventh threshold value to 1 or more (for example, around 1.5), the route can be switched to the update route 9 that is easy to travel with a wide route.

In the above (1) and (2), when (1) is prioritized and (1) is not established, it is preferable to determine whether (2) is established.
If neither (1) nor (2) is established, the ease of traveling is considered to be comparable, and the corrected route 6 is set as a new route as a rule.

  Table 1 shows that the update path 9 is compared with the correction path 6 and “O” is selected when the update path 9 is selected and “X” is selected when the correction path 6 is selected.

That is, in this table, the symbol “◯” means that the update route 9 is selected because the update route 9 is easier to travel. Further, the symbol “x” means that the correction route 6 is selected because the correction route 6 is more easily traveled or is easier to travel than the update route 9.
Further, a thick broken line in the figure is a selection boundary line between the symbol “◯” and the symbol “x”.

In Table 1, “width” means “average value of the shortest distance to the obstacle 3”.
When A = “width of the update path 9” / “width of the correction path 6”, “wide” means A> “first designated value”, and “narrow” means A <“ “Second designated value” means “similar” means that A is “second designated value” or more and “first designated value” or less.
Similarly, when B = “length of the update path 9” / “length of the correction path 6”, the length “long” means B> “third specified value” and “short”. Means B <“fourth designated value”, and the same level means that B is “fourth designated value” or more and “third designated value” or less.
“First designated value” to “fourth designated value” are arbitrary positive numbers set in advance.

FIG. 6 is an explanatory diagram of the search method for the correction path 6 according to the present invention.
FIG. 6A shows the immediately preceding route 4 on the search area C. In this figure, S is the current position of the moving body 10, and 3 is an obstacle.
In this figure, the upper end portion D indicated by a broken line does not correspond to the search region C in the immediately preceding control cycle. For this reason, the immediately preceding route 4 does not reach the upper end of the search area C, and a blank area exists between them.
An extension 6a of the correction path 6 to be described later corresponds to this blank area (upper end portion D).

  6B to 6E show a search step for the correction path 6 (step S4 in FIG. 5).

In FIG. 6B, in the search area C, a plurality of pre-correction passing points 5a spaced apart on the immediately preceding route are set in order from the current position S.
At this time, the interval between the pre-correction passing points 5a is set to the first interval L1, and the interval between the portion where the curvature is larger than the second threshold or the portion where the shortest distance to the obstacle 3 is less than the third threshold is the first interval L1. It is preferable to set a smaller value.

The first interval L1 (the interval between the pre-correction passing points 5a) is preferably an arbitrary fixed value or a value proportional to the traveling speed, for example.
For example, the second threshold value is set to a value at which the moving body 10 can freely turn. In this case, the “part where the curvature is larger than the second threshold” is a part having a small turning radius, and is set so that the moving body 10 can freely turn.
The third threshold value is set to a small value within a range in which the moving body 10 can pass without hindrance. In this case, the “part where the shortest distance to the obstacle 3 is less than the third threshold” corresponds to a part that approaches the obstacle 3.

Next, in FIG. 6C, the position of the post-correction passing point 5b is set on a straight line passing through the pre-correction passing point 5a so that the shortest distance to the obstacle 3 is the maximum or the first threshold value or more. .
The straight line passing through the pre-correction passing point 5a is preferably the normal line of the immediately preceding route 4, but may be “right and left direction when viewed from the moving body 10”, “opposite direction to the nearest obstacle 3”, and the like.
For example, the first threshold value is preferably set to a value at which the moving body 10 can freely turn. Note that the position of the corrected passing point 5b may be corrected so that the shortest distance to the obstacle 3 is maximized if it is equal to or greater than the first threshold value.

In addition, it is preferable to generate the correction path 6 so that the correction amount of the position of each corrected passing point 5b is equal to or smaller than the fourth threshold value and the maximum curvature is equal to or smaller than the fifth threshold value.
The fourth threshold value and the fifth threshold value are preferably set to a size that allows the moving body 10 to travel without going back and forth.

Next, as shown in FIG. 6D, a route that connects the position of the corrected passing point 5 b in the search region C is output as the corrected route 6.
In addition, since the search area C while the moving body 10 is moving forward changes every control cycle, the immediately preceding path 4 by the immediately preceding control cycle does not include the extension 6 a of the correction path 6. Therefore, as shown in FIG. 6D, the immediately preceding path 4 is corrected to form a corrected path 6 including the extension 6a. The formation of the extension 6a is preferably the same as the method for generating the update path 9 described later.

  FIG. 7 is a diagram illustrating an example of a method for generating the update path 9. 7A shows a method for setting the first update point 8a, and FIG. 7B shows the process up to generation of the update path 9. In FIG.

  In FIG. 7A, in the search area C, first search points 7a are set at a distance in front of the moving body 10 in the traveling direction, and then the moving body 10 travels through the first search points 7a. A first update point 8a at which the shortest distance to the obstacle 3 is maximized is set on a straight line orthogonal to the direction. The first update point 8a is on the near side of the obstacle 3 when viewed from the moving body 10, and is not set on the other side of the obstacle 3 (for example, the point 8b).

Next, as shown in FIG. 7B, new search points 7 are set sequentially from the first update point 8a with an interval in the direction connecting the previous update point 8 and the new update point 8. Furthermore, a new update point 8 that sets the shortest distance to the obstacle 3 on the straight line that passes through the new search point 7 and is orthogonal to the direction connecting the update points 8 is set.
This step is repeated as long as the new update point 8 is in the search area C.

Next, a route that connects the current position S of the mobile body 10, the first update point 8 a, and the new update point 8 in this order is defined as an update route 9. In addition, it is preferable to extend the previous route as it is from the last update point 8 to the upper end of the search area C.
Note that the method of generating the update path 9 is not limited to this example, and other known methods may be used.

According to the method and apparatus of the present invention described above, a local map including an obstacle position in the search area C in front of the moving body 10 from the obstacle position by the obstacle sensor 12 (in this example, the camera 13 and the laser sensor 14). Set. Next, in the search area C in which the local map is set, a corrected route 6 obtained by correcting the immediately preceding route 4 is searched, and a new route is set from now.
Therefore, even if there is an autonomously recognized environmental recognition noise or a change in the position or posture of the moving body 10, the correction route 6 is a correction of the immediately preceding route 4 and is located in the vicinity of the immediately preceding route 4. Therefore, frequent switching of routes can be prevented. As a result, there is no unintended route switching, and the moving body 10 does not move back and forth, and traveling is stabilized.

  Further, in the search area C, an update route 9 from the current position S is generated, and when the correction route 6 is easy to travel, the correction route 6 is set as a new route, and in other cases, the update route 9 is set. Set a new route. Thereby, when the correction | amendment path | route 6 heads to the direction where the driving | running | working body 10 is difficult to travel, such as a dead end or a narrow area | region, a path | route can be switched to the update path | route 9 which is easy to drive | work.

  Accordingly, unintended route switching is eliminated, and the route can be switched when necessary. The moving body 10 does not go back and forth, the traveling is stabilized, and the possibility that the moving body 10 collides with the obstacle 3 is greatly reduced. can do.

  In addition, this invention is not limited to embodiment mentioned above, is shown by description of a claim, and also includes all the changes within the meaning and range equivalent to description of a claim.

C search area, D upper end portion, L1 first interval, S current position,
1 mobile, 2a, 2b route, 3 obstacle, 4 immediately preceding route,
5a Passing point before correction, 5b Passing point after correction, 6 Correction path, 6a Extension,
7 search points, 7a first search points, 8 update points, 8a first update points,
8b Points beyond obstacles, 9 update paths, 10 mobiles,
12 obstacle sensor, 13 camera (digital camera),
14 laser sensor (laser radar), 15 steering actuator,
16 Brake / accelerator actuators,
17 vehicle control computer, 18 antenna,
20 route planning device (route planning computer), 21 storage device,
22 search area setting unit, 24 new route setting unit, 25 update route generating unit,
26 Route selector

Claims (9)

A path planning method for an autonomously movable vehicle having an obstacle sensor capable of detecting an obstacle position ahead,
By computer
(A) From the obstacle position by the obstacle sensor, set a local map including the obstacle position in the search area in front of the moving body,
(B) A route planning method for a moving body, wherein a corrected route obtained by correcting a previous route is searched in a search region in which the local map is set, and a new route is set from now on. In (B) above,
(B1) In the search area, an update route from the current position is generated,
(B2) The updated route is set as a new route when the updated route is easier to travel than the corrected route, and the corrected route is set as a new route in other cases. 1. A route planning method for a moving object according to 1.   In the case where the updated route in (B2) is easier to travel than the corrected route, two indexes of the corrected route and the length of the updated route and the average value of the shortest distance to the obstacle are calculated in the search area. The path planning method for a moving body according to claim 2, wherein the path planning method is used. In (B) above,
(B3) A plurality of pre-correction passing points spaced apart on the immediately preceding route are set in order from the current position,
(B4) The position of the post-correction pass point is set on a straight line passing through the pre-correction pass point so that the shortest distance to the obstacle is the maximum or equal to or greater than the first threshold, and the post-correction pass in the search area 3. The route planning method for a moving object according to claim 1, wherein a route connecting points is set as a corrected route.   In (B3), the interval between the pre-correction passing points is set to the first interval, and the interval between the portion where the curvature is greater than the second threshold or the shortest distance to the obstacle is less than the third threshold is greater than the first interval. The route planning method for a moving body according to claim 4, wherein the route is set to a small value.   In (B4), the correction path is set so that the correction amount of the position of each corrected passing point is not more than a fourth threshold and the maximum curvature is not more than a fifth threshold. 5. A route planning method for a moving object according to 4. In (B1), the update path is within the search area.
(B1.1) First search points spaced apart in front of the moving body in the traveling direction are set, and the shortest distance to the obstacle is on a straight line passing through the first search points and orthogonal to the traveling direction of the moving body. Set the first update point with the largest distance,
(B1.2) In order from the first update point, a new search point is set at an interval in the direction connecting the previous update point and the new update point, and the update point passes through the new search point and connects the update points. Set a new update point on the perpendicular line that maximizes the shortest distance to the obstacle,
Repeat this setting as long as the new update point is in the search area,
(B1.3) The route planning method for a mobile unit according to claim 2, wherein a route connecting the current position of the mobile unit, the first update point, and the new update point in order is an update route. A path planning device for an autonomously movable mobile body having an obstacle sensor capable of detecting an obstacle position ahead,
A search area setting unit for setting a local map including an obstacle position in a search area in front of a moving object from an obstacle position by the obstacle sensor;
A mobile route planning apparatus, comprising: a new route setting unit that searches a corrected route obtained by correcting a previous route in a search region in which the local map is set, and sets a new route from now on. The new route setting unit
In the search area, an update path generation unit that generates an update path from the current position;
9. A route selection unit that sets a corrected route as a new route when the corrected route is easy to travel, and sets the updated route as a new route in other cases. A path planning apparatus for a moving object according to claim 1.

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