JP2009053849A - Path search system, path search method, and autonomous traveling body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a path search system, a path search method, and an autonomous traveling body for searching for the most appropriate path at high speed and accurately even in a wide traveling space. <P>SOLUTION: The path search system 1 includes a topology map generating means 21 which divides the traveling space into a plurality of areas so that a path exists between any two points contained in each area, sets a node to each area, and connects nodes by a link according to an adjacent relationship between areas to generate a topology map composed of nodes and links, a topology map path search means 22 which searches paths on a generated topology map, and a traveling space path search means 23 which searches for a path from a traveling start point S to a traveling end point G in the areas of the traveling space corresponding to paths, on the topology map, searched by the topology map path search means 22. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a route search system, a route search method, and an autonomous mobile body that search for a movement route.

  A moving body that autonomously moves in the environment needs to search for a movement route in advance or in real time. Conventionally, many route search methods have been proposed. Techniques such as Dijkstra and A * are well known as general route search methods. When a route search is performed by such a method, for example, a grid of equidistant grids is held as a map, and a grid map in which obstacles are plotted on the grid is used. A technique for performing a route search is well known.

  However, in the conventional technique for searching for a route on a grid map, when a route search is performed using a grid over a wide range, the grid map becomes large according to the movement space, resulting in an increase in calculation load and memory capacity. There is a problem that route search cannot be executed in real time.

Therefore, when performing route search in a wide range of moving space, there is a technology that expresses the characteristics of the moving space with nodes and links and performs route searching using a geometric topology map composed of these nodes and links. It is disclosed (for example, Patent Documents 1 and 2).
JP 2000-181539 A JP 2007-155699 A

  However, in the past, in order to generate a topology map, humans have extracted features such as doorways, shelves, desks, etc. that exist in the moving space, and the time is increased in a wide range of moving spaces. In addition, there are problems such as different characteristics extracted by people. Furthermore, in a wide and complex moving space, it is assumed that a feature point that does not have a route between feature points may be erroneously extracted. In such a case, there is a possibility that the route search cannot be performed. . That is, the conventional method for generating a topology map has a problem in that a feature point cannot be automatically extracted to accurately execute a route search.

  As described above, in the conventional travel route search method, the route search processing is performed using the topology map generated manually, and thus there is a problem that it is not possible to search for an optimum route at high speed and accurately in a wide range of travel space. It was.

  The present invention has been made to solve such a problem, and is a route search system, a route search method, and autonomous movement capable of searching an optimum route at high speed and accurately even in a wide movement space. The purpose is to provide a body.

  A route search system according to the present invention is a route search system for starting a movement from a movement start point existing in a movement space and searching for a route reaching a movement end point existing in the movement space, wherein the movement space is The node is divided into a plurality of regions so that a route exists between any two points included in the region, nodes are set for the regions, and the nodes are linked according to the adjacent relationship between the regions. The topology map generating means for generating a topology map composed of nodes and links, the topology map path searching means for searching for a path in the generated topology map, and the topology map path searching means A moving space route search for searching for a route in the region of the moving space corresponding to the route on the searched topology map. It is intended and means.

  As a result, there is a path between any two points included in each area, and therefore there is a path between any two points in each area of the movement space corresponding to each node. Then, in order to connect the nodes with links according to the adjacency relationship between the respective regions, for a plurality of nodes connected by the links, a route is formed between any two points over a plurality of regions of the moving space corresponding to the plurality of nodes. Exists. For this reason, there is a route between any two points of the route nodes on the route on the topology map searched in the topology map, even over a limited area of the movement space corresponding to the route node. That is, the route from the movement start point to the movement end point can be accurately searched over a limited area of the movement space. Therefore, by automatically generating such a topology map and using the route search result in the topology map, it is possible to perform route search in a limited area in the moving space. And a route can be generated accurately.

  Further, the topology map generation means extends a plurality of base points included in the movement space from each base point until a predetermined number of search branches are obtained, and sets an area composed of points connected by the search branches as a single region. A region dividing unit that divides the moving space into a plurality of regions by setting the region, and a node that sets a node for each region and connects the nodes by a link according to the adjacent relationship between the regions A link setting unit may be provided. As a result, the moving space can be easily divided into a plurality of areas where a path exists between any two points in each area.

  Furthermore, the number of search branches extending from each base point may be settable. Thereby, the movement space can be divided substantially uniformly by setting the number of points included in each divided area to be substantially the same. Therefore, it is possible to easily generate a topology map expressed by nodes that uniformly compress the moving space.

  The node / link setting means may set the representative point located at the center of gravity of each region as the node. Thereby, a node of the topology map can be easily set from each divided area.

  Furthermore, the node / link setting means may use the geometric distance between the representative points as the cost of the link, and connect the nodes with links according to the adjacent relationship between the regions. Thereby, it is possible to easily generate a topology map that retains the geometric positional relationship of each region in the movement space.

  Further, the topology map route search means and / or the moving space route search means may search for a route using the Dijkstra method. Thereby, a route can be searched easily and at high speed.

  The route search method according to the present invention is a route search method for starting a search from a search start point existing in a search space and searching for a route reaching a search end point existing in the search space, wherein the search space Are divided into a plurality of regions such that a path exists between any two points included in the region, nodes are set for each of the divided regions, and the adjacent relationship between the regions A node and a link are established by connecting the nodes in accordance with a link, a route is searched using a topology map comprising the node and the link, and the topology searched by the topology map route search means And searching for a route in the area of the search space corresponding to the route on the map.

  In this way, with respect to the route nodes on the route on the topology map searched in the topology map, a route exists between any two points over a limited area of the search space corresponding to the route node. That is, the route from the search start point to the search end point can be accurately searched over a limited area of the search space. Therefore, by automatically generating such a topology map and using the route search result in the topology map, it is possible to perform a route search in a limited area in the search space. And a route can be generated accurately.

  Further, in the step of dividing the search space into a plurality of regions, the search branches are extended from a plurality of base points included in the search space until a predetermined number is reached, and the search space is extended from the base points to the search branches. May be divided into a plurality of regions composed of points connected by.

  Furthermore, the number of search branches extending from each base point may be settable. In the step of setting the nodes and links, a representative point located at the center of gravity of each region is set as the node, and the nodes are connected by a link according to the adjacent relationship between the regions. Good.

  In the step of setting the node and the link, the geometric distance between the representative points may be the cost of the link, and the nodes may be connected by a link according to the adjacent relationship between the regions. . Furthermore, in the step of searching for the route, a route may be searched using the Dijkstra method.

  The autonomous mobile body according to the present invention is an autonomous mobile body that can start a movement from a movement start point that exists in a movement space and can search for a route that reaches a movement end point that exists in the movement space. Is divided into a plurality of areas so that a path exists between any two points included in the area, and a node is set for each of the divided areas, and between the areas Node / link setting means for setting a node and a link by connecting the nodes according to an adjacency relationship, a topology map route searching means for searching for a route using a topology map composed of the node and the link, and A moving space route searching method for searching for a route in the region of the moving space corresponding to the route on the topology map searched by the topology map route searching means. It is those with a door.

  As a result, a route from the movement start point to the movement end point can be accurately searched over a limited region of the movement space. Therefore, by automatically generating such a topology map and using the route search result in the topology map, it is possible to perform route search in a limited area in the moving space. And a route can be generated accurately.

  According to the present invention, it is possible to provide a route search system, a route search method, and an autonomous mobile body that can search for an optimum route at high speed and accurately even in a wide range of movement space.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In addition, in each drawing, the same code | symbol is attached | subjected to the same element, and duplication description is abbreviate | omitted as needed for clarification of description.

Embodiment 1 of the Invention
In the route search system according to the first exemplary embodiment of the present invention, a robot is used as an autonomous mobile body. The robot may have, for example, two wheels that are independently rotationally controlled, and more than two wheels, for example, a four-wheeled robot, a one-wheeled robot, a two-legged walk, and a four-legged walk It may be a robot. Further, the present invention is not limited to the robot, and can be applied to a two-wheeled or four-wheeled vehicle. The robot in this example includes a sensor and a camera that detect an obstacle, and performs a route search so as to avoid the obstacle according to the detected obstacle.

  The route search system starts a movement from a movement start point existing in the movement space and searches for a route reaching the movement end point existing in the movement space. Since the route search system searches for a route using a topology map composed of nodes and links, it generates a topology map based on the movement space. The route search system first divides the movement space into a plurality of regions such that a route exists between any two points included in the region. Next, nodes are set for each region, and nodes are connected by links according to the adjacent relationship between the regions, thereby generating a topology map composed of nodes and links. The route search system searches for a route in the region of the moving space corresponding to the route on the searched topology map after searching for the route in the generated topology map.

  As will be described later, there is a path between any two points over a limited region of the moving space corresponding to the route node on the searched topology map. For this reason, it is possible to accurately search for a route from the movement start point to the movement end point over a limited region of the movement space. Therefore, by automatically generating such a topology map and using the route search result in the topology map, a route search can be performed not in the entire moving space but in a limited area. It can generate a route quickly and accurately.

  The route search system according to the first exemplary embodiment is realized by, for example, a computer mounted on a robot or a computer provided separately from the robot. The computer includes, for example, a central processing unit (CPU), an auxiliary storage device such as a ROM, a RAM, and a hard disk, a storage medium driving device into which a portable storage medium such as a CD-ROM is inserted, an input unit, and an output unit. Yes. In a storage medium such as a ROM, an auxiliary storage device, and a portable storage medium, an application program can be recorded by giving an instruction to the CPU or the like in cooperation with the operating system. The application program is executed by being loaded into the RAM. This application program includes a unique route search program for realizing the route search system according to the present invention. The route search by the route search system is executed by the central processing unit developing the application program on the RAM, reading the data stored in the auxiliary storage device and executing the processing according to the application program, and storing it. The

  FIG. 1 is a block diagram illustrating a schematic configuration of the route search system according to the first embodiment. As shown in FIG. 1, the route search system 1 includes a route search processing unit 2 and a route search storage unit 3. The route search processing unit 2 includes topology map generation means 21, topology map route search means 22, and moving space route search means 23.

  The route search storage unit 3 stores a grid map and a topology map for expressing the movement space. The grid map is obtained by virtually describing grid lines connecting lattice points arranged at a substantially constant interval d (for example, 10 cm) in the shape of the entire moving region in which the robot moves. The robot recognizes its own position on the grid map by replacing the position information obtained from GPS or the like with its own position on this grid map. On the grid map, the location corresponding to the robot's own position, the movement end point as the destination, and the movement direction of the robot at the movement end point are specified. The robot creates a movement route from the movement start point to the movement end point, which is the destination, at the self position specified on the grid map, and moves according to the created movement route.

  The topology map is a geometric map for abstracting and expressing a moving space in which the robot moves, and is composed of nodes and links. In the route search system according to the first embodiment, a topology map is generated by the topology map generation means 21 described later based on the grid map.

  The topology map generation means 21 generates a topology map based on the grid map. More specifically, the grid map is divided into a plurality of areas so that a path exists between any two points included in the area. And while setting a node with respect to each area | region, the topology map comprised from a node and a link is produced | generated by connecting between nodes with a link according to the adjacent relationship between each area | region.

  The topology map generation unit 21 includes an area division unit 211 and a node / link setting unit 212. The area dividing unit 211 extends a search branch from each of the plurality of base points included in the grid map to a predetermined number, and sets a region including points connected from the base points by the search branch as one area. Divide the grid map into multiple regions. The node / link setting unit 212 sets a node for each area, and connects the nodes with links according to the adjacent relationship between the areas. Details of the topology map generation process will be described later.

  The topology map route search means 22 searches for a route in the topology map generated by the topology map generation means 21. The moving space route search means 23 searches for a route in an area on the grid map corresponding to the route on the topology map searched by the topology map route search means 22.

  FIG. 2 is a flowchart showing an outline of route search processing by the route search system 1 according to the first exemplary embodiment. First, the route search system 1 uses the topology map generation unit 21 to generate a topology map including nodes and links based on the grid map (step S101). Next, using the generated topology map, the topology map route searching means 22 searches the topology map for a route from the node corresponding to the movement start point to the node corresponding to the movement end point (step S102). Next, the travel space route search means 23 searches for a route from the movement start point to the movement end point in an area on the grid map corresponding to the transit node on the topology map searched by the topology map route search means 22 (step) S103). Hereinafter, the process in each step will be described in detail.

  First, the topology map generation process by the topology map generation means 21 will be described. 3 to 8 are diagrams for explaining the topology map generation processing by the topology map generation means 21. FIG. FIG. 3 is a flowchart showing the area dividing process by the area dividing unit 211 in the topology map generation process.

  The area dividing unit 211 divides a grid map having a detailed resolution compared to the topology map into a plurality of areas having a certain area. A unique area number is assigned to each divided area. First, the region dividing unit 211 sets a base point (also referred to as a seed) used for dividing the region in the grid map (step S201). The base point is set by scanning the detailed grid map to determine whether or not there is an unclassified area that includes a grid point that is not assigned an area number. Set the point as a new base point (seed). A new area number is set for the base point (seed).

  Next, the search branch is extended from the base point (seed) set in step S201 based on the adjacent relationship between the grid points (step S202). The process for extending the search branch is the same as the shortest path search process, and the search branch that is the minimum path is sequentially extended starting from a base point (seed) having an area number. More specifically, the selected grid point is selected by sequentially selecting the adjacent grid point having the smallest evaluation value among the evaluation values between adjacent grid points from the grid point corresponding to the base point as a search branch. The search branch that passes can be determined as the shortest path. As an evaluation value between adjacent grid points, for example, an evaluation value between adjacent grids in the front-rear and left-right directions is set to 5, and an evaluation value between adjacent grids in the oblique direction is set to 7, for example. Further, the grid points included in the search branch extending from the base point are assumed to have the same area number as the base point. Since the region is divided using the route search method in this way, it is guaranteed that a route exists between any two points in one region.

  Next, it is determined whether or not the grid point included in the search branch is adjacent to an area having another area number (step S203). If the grid point is adjacent to another area, the information of the adjacent area is associated with the base point and stored in the route search storage unit 3 as adjacent area information described later (step S204). As will be described later, it is determined whether or not a link exists between nodes in the node / link setting process using the stored adjacent area information.

  Next, it is determined whether or not the number of search branches has been extended to the designated number or the number of search branches cannot be increased any more for the area with the area number extending the search branch (step S205). If the search branch is extended by the designated number or cannot be increased any more, a new region number is assigned to the grid point searched by the search branch (step S206).

  In this way, the grid map can be divided substantially uniformly by setting the number of search branches extending from each base point in advance and setting the number of grid points included in each divided area to be approximately the same. . Therefore, it is possible to easily generate a topology map expressed by nodes obtained by uniformly compressing the grid map.

  Next, an area number is assigned to all areas, and it is determined whether or not there is no unclassified area (step S207). If there is no unclassified area, the process is terminated. In this way, the processes in steps S201 to S207 are repeated to divide the grid map into a plurality of areas.

  FIG. 4 is a diagram showing how the area division processing is performed. FIG. 4A is a diagram showing a grid map in an initial state. In the figure, a region V indicates a movement prohibited region where the movement of the robot is prohibited. FIG. 4B is a diagram showing a state after a fixed area is created from the base point B1 (seed) in the grid map shown in FIG. 4A, and an area with area number 1 is assigned to the grid map. It is a thing. Here, the arrow from the base point indicates the direction in which the search branch extends.

  FIG. 4C is a diagram showing a state after a certain region is created from the next base point B2, and a region with a region number of 2 is newly assigned to the grid map. FIG. 4D is a diagram showing a state after a certain area is created from the next base point B3, and an area with area number 3 is newly assigned to the grid map. In this way, a plurality of areas are assigned to all areas in the grid map. FIG. 4E is a diagram showing a state after all areas are assigned to the grid map. The grid map is divided into 14 areas having different area numbers.

  FIG. 5 is a table showing information of adjacent areas regarding each area for the divided areas. When the area assignment process is performed, it is determined whether or not the grid point included in the search branch is adjacent to an area having another area number. When the grid point is adjacent to another region, the information on the adjacent region is associated with the base point and stored in the route search storage unit 3 as adjacent region information. As shown in the figure, the areas adjacent to the area 1 whose area number (ID) is 1 are 2 and 6, the area 2 with the area number (ID) 2 and the area number (ID) 6 It shows that the region 6 is adjacent to the region 1.

  FIG. 6 is a flowchart showing node and link setting processing by the node / link setting means 212. First, a representative point is calculated for each divided area and set as a node (step S301). More specifically, the grid map is expressed using a coordinate system defined by the x and y axes, the representative coordinate values of the element coordinates of each region are calculated, and the calculated coordinate values are stored in association with the base point of the region. To do. Here, the representative point is a point having a median value at the upper and lower ends and a median value at the left and right ends in the region, and is located at the center of gravity of the region. When a point having both median values is not included in the region, a point in the region having one of the median values and having a value as close as possible to the other median value is set as the representative point.

  Next, the distance between the representative points is set as the cost of the link connecting the adjacent areas, and the connection is established using the link (step S302). The nodes set as representative points are connected by links according to the adjacent information of the area. The geometric distance between the representative points is calculated as the cost between adjacent areas, and is associated with the link connecting the nodes as the cost.

  FIG. 7 is a diagram illustrating an example in which representative points are calculated for each region and set as nodes. The grid map is divided into 14 areas, and 14 nodes as representative points are set for each area. FIG. 8 is a diagram illustrating an example in which nodes are connected by links. A line connecting the nodes indicates a link, and a number associated with each link indicates a geometric distance between representative points, that is, a cost of the link. As shown in FIG. 8, a diagram composed of nodes and links is called a topology map.

  Next, route search processing on the topology map by the topology map route search means 22 will be described. First, the topology map route search means 22 associates the movement start point and movement end point position on the grid map with the nodes on the topology map. More specifically, the movement start point on the grid map is associated with a node representing the region including the movement start point. Further, the movement end point on the grid map is associated with a node representing the region including the movement end point.

  FIG. 9 is a diagram illustrating an example in which the movement start point and the movement end point position are associated with the nodes on the topology map. As shown in the figure, the movement start point S on the grid map is associated with the node 1 representing the region 1 including the movement start point S. Further, the movement end point G on the grid map is associated with the node 11 representing the region 11 including the movement end point G.

  Next, in the topology map, the shortest route search process is executed for the route from the associated movement start point node to the movement end point node. For example, the Dijkstra method can be used as the route search method. Further, the route search method is not limited to the Dijkstra method, and a known route search method such as an A * (Aster) method may be used.

  FIG. 10 is a diagram illustrating a search result of the shortest path search process in the topology map. In the example shown in the figure, the route having nodes 1, 2, 3, 7, 12, 13, 9, 10, 11 connected by links (solid lines) as the transit node is the shortest route from node 1 to node 11. To be explored. A link indicated by a broken line indicates a link between nodes that has not been adopted as the shortest path.

  Next, route search processing in the area on the grid map by the moving space route search means 23 will be described. First, the moving space route searching means 23 registers the transit node on the topology map searched as the shortest route by projecting it on the grid map as a transit point on the grid map. As a result, only a limited area on the grid map corresponding to the transit node on the topology map searched as the shortest path is set as a path search target.

  FIG. 11 is a diagram illustrating an example in which only a region corresponding to a transit node on a searched topology map is limited as a route search target region in the grid map. As shown in the figure, nodes 1, 2, 3, 7, 12, 13, 9, 10, and 11 on the topology map are used as via nodes, and regions 1, 2, 3, 7, 12, 13 corresponding to these nodes are shown. , 9, 10, and 11 are limited as route search areas in the grid map.

  Next, the shortest path search process from the movement start point S to the movement end point G is executed in the area in the grid map corresponding to the transit node. That is, the route from the movement start point S to the movement end point G is searched in a limited area of the grid map. For example, the Dijkstra method can be used as the route search method. Further, the route search method is not limited to the Dijkstra method, and a known route search method such as an A * (Aster) method may be used.

  FIG. 12 is a diagram illustrating a search result of the shortest path search process in the grid map. In the example shown in the figure, the route indicated by the solid line is searched as the shortest route from the movement start point S to the movement end point G. Note that the route indicated by the alternate long and short dash line indicates the shortest route in the topology map.

  As described above, according to the route search system 1 according to the first exemplary embodiment, by using the automatically generated topology map, the route search region in the grid map is limited, and thus in a wide movement space. It is possible to execute a route search with high speed and accuracy.

  The route search system 1 according to the first exemplary embodiment uses a route search method to divide the grid map into a plurality of regions so that a route exists between any two points included in the region. More specifically, a grid is formed by extending a search branch from a plurality of base points included in the grid map to a predetermined number, and forming a region including points connected by the search branch from each base point as one region. Divide the map into multiple regions. And while setting a node with respect to each area | region, the topology map comprised from a node and a link is produced | generated by connecting between nodes with a link according to the adjacent relationship between each area | region. Next, the route search system 1 uses the generated topology map to search for a route from the node corresponding to the movement start point to the node corresponding to the movement end point on the topology map. Next, the route search system 1 searches for a detailed route from the movement start point to the movement end point in the area of the grid map corresponding to the searched route on the topology map.

  By dividing the region using the route search method in this way, there is a route between any two points included in each region. Therefore, any two points in each region of the grid map corresponding to each node. There is a route between them. Then, by connecting the nodes with links according to the adjacent relationship between the areas, a plurality of nodes connected by the links are routed between any two points over a plurality of areas of the grid map corresponding to the plurality of nodes. Exists. For this reason, there is a route between any two points of the route nodes on the route on the topology map searched for in the topology map over a limited area of the grid map corresponding to the route node. That is, the route from the movement start point to the movement end point can be accurately searched over a limited area of the grid map. Therefore, by automatically generating such a topology map and using the route search result in the topology map, it is possible to perform route search in a limited area in the grid map, so even in a wide range of moving space, high speed And a route can be generated accurately.

Other embodiments.
In the above-described embodiment, an example in which the moving space is a two-dimensional grid map has been described. However, the moving space may be a three-dimensional space defined by, for example, x, y, and z axes. The present invention can be applied even when the robot posture (one-dimensional) is combined into a four-dimensional search space.

  Furthermore, in the above-described embodiment, an example in which the present invention is applied to a robot having wheels or the like as moving means has been shown. However, the present invention is not limited to this, and the robot is a mobile robot having legs and capable of autonomous walking. There may be.

  In addition, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention described above.

It is a block diagram which shows the structure of the route search system concerning embodiment of this invention. It is a flowchart which shows the outline | summary of the route search process concerning embodiment of this invention. It is a flowchart which shows the area division | segmentation process concerning embodiment of this invention. It is a figure which shows an example for demonstrating the state of the area division | segmentation process concerning embodiment of this invention. It is a figure which shows an example for demonstrating the state of the area division | segmentation process concerning embodiment of this invention. It is a figure which shows an example for demonstrating the state of the area division | segmentation process concerning embodiment of this invention. It is a figure which shows an example for demonstrating the state of the area division | segmentation process concerning embodiment of this invention. It is a figure which shows an example for demonstrating the state of the area division | segmentation process concerning embodiment of this invention. It is a table | surface which shows the adjacent area information concerning embodiment of this invention. It is a flowchart which shows the node link setting process concerning embodiment of this invention. It is a figure which shows an example for demonstrating the state of the node link setting process concerning embodiment of this invention. It is a figure which shows an example for demonstrating the state of the node link setting process concerning embodiment of this invention. It is a figure which shows an example for demonstrating the way of the route search process on the topology map concerning embodiment of this invention. It is a figure which shows an example for demonstrating the way of the route search process on the topology map concerning embodiment of this invention. It is a figure which shows an example for demonstrating the way of the route search process on the grid map concerning embodiment of this invention. It is a figure which shows an example for demonstrating the way of the route search process on the grid map concerning embodiment of this invention.

Explanation of symbols

1 route search system,
2 route search processing unit,
21 topology map generation means,
211 area division unit, 212 node / link setting means,
22 topology map route searching means,
23 Moving space route search means,
3 route search storage unit,
V movement prohibited area, S movement start point, G movement end point

Claims (13)

A route search system for starting a movement from a movement start point existing in a movement space and searching for a route reaching a movement end point existing in the movement space,
The moving space is divided into a plurality of regions so that a path exists between any two points included in the region, a node is set for each region, and the adjoining relationship between the regions is A topology map generating means for generating a topology map composed of nodes and links by connecting nodes with links;
In the generated topology map, topology map route searching means for searching for a route;
A route search system comprising: a travel space route search means for searching for a route in an area of the travel space corresponding to the route on the topology map searched by the topology map route search means. The topology map generating means includes
For a plurality of base points included in the movement space, the search space is extended from each base point until a predetermined number is reached, and an area composed of points connected by the search branch is defined as one area, thereby the movement space. Area dividing means for dividing the image into a plurality of areas;
2. The route search system according to claim 1, further comprising node / link setting means for setting a node for each area and connecting the nodes with a link according to an adjacent relationship between the areas. The route search system according to claim 2, wherein the number of search branches extending from each base point can be set. The node / link setting means comprises:
4. The route search system according to claim 2, wherein a representative point located at the center of gravity of each region is set as the node. The node / link setting means comprises:
5. The path according to claim 2, wherein a geometric distance between the representative points is a cost of the link, and the nodes are connected by a link according to an adjacent relationship between the regions. Search system. Topology map route searching means and / or moving space route searching means,
6. The route search system according to claim 1, wherein a route is searched using a Dijkstra method. A route search method for starting a search from a search start point existing in a search space and searching for a route reaching a search end point existing in the search space,
Dividing the search space into a plurality of regions such that a path exists between any two points included in the region;
Setting a node for each of the divided areas, and setting the nodes and links by connecting the nodes with links according to the adjacency relationship between the areas; and
Searching for a route using a topology map comprising the nodes and links;
A route search method comprising: searching for a route in an area of the search space corresponding to the route on the topology map searched by the topology map route search means. In the step of dividing the search space into a plurality of regions,
For a plurality of base points included in the search space, extending the search branches from each base point to a predetermined number, and dividing the search space as a plurality of regions composed of points connected by the search branches. The route search method according to claim 7, wherein: 9. The route search method according to claim 8, wherein the number of the search branches extending from each base point can be set. In the step of setting the node and link,
The representative point located at the center of gravity of each region is set as the node, and the nodes are connected by a link according to the adjacent relationship between the regions. Route search method. In the step of setting the node and link,
The path according to any one of claims 8 to 10, wherein a geometric distance between the representative points is a cost of the link, and the nodes are connected by a link according to an adjacent relationship between the regions. Search method. In the step of searching for the route,
12. The route search method according to claim 7, wherein a route is searched using a Dijkstra method. An autonomous mobile body that starts to move from a movement start point existing in a movement space and can search for a route to reach a movement end point existing in the movement space,
Area dividing means for dividing the movement space into a plurality of areas such that a path exists between any two points included in the area;
A node / link setting means for setting a node and a link by setting a node for each of the divided areas and connecting the nodes with links according to the adjacent relationship between the areas;
Topology map route searching means for searching for a route using a topology map composed of the nodes and links;
An autonomous mobile body comprising: a moving space route searching means for searching for a route in an area of the moving space corresponding to the route on the topology map searched by the topology map route searching means.

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