JP2012185619A - Movable body mapping device and processing method and program therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To optimally set a movement path of a movable body.SOLUTION: A movable body mapping device 10 includes first storage means that stores map information 2 divided into a plurality of subregions 2a, position detecting means that detects the current position of a movable body 1, reading means that reads a prescribed region 5 from the map information 2 of the first storage means according to the current position of the movable body 1 detected by the position detecting means, second storage means that temporarily stores the prescribed region 5 read from the map information 2 of the first storage means by the reading means, and path setting means that sets a movement path of the movable body 1 from its initial position to a target position in the map information 2 by connecting adjacent subgoals 2b of the respective subregions 2a. The path setting means changes the path by reconnecting the subgoals 2b of the respective subregions 2a in the prescribed region 5 of the second storage means so as to reduce the distance between a subgoal 2b near the current position and a subgoal 2b closer to the target position.

Description

  The present invention relates to a moving body map device that reads map information for moving a moving body from a storage unit, a processing method thereof, and a program.

  Currently, the autonomous mobile technology that moves to the destination is being developed by comparing the data detected by the sensor installed on the mobile object with the map information installed on the mobile object. . Here, as the moving range of the moving body increases, the amount of map information stored in the moving body increases. For this reason, the memory capacity for storing the map information mounted on the mobile body increases, which may lead to an increase in cost.

  In order to solve this problem, for example, first storage means for storing map information divided into a plurality of areas, and map information of a predetermined area including the current position according to the movement of the mobile robot are read from the first storage means, 2. Description of the Related Art A mobile robot device is known that controls movement of a mobile robot based on map information of a predetermined area stored in a second storage unit and stored in a second storage unit (see Patent Document 1).

  Also, various methods for setting a moving route for moving a moving body in the map information have been proposed. For example, a discretized space having a grid point with a large interval between the initial position and the target position is formed, and a route is searched using a graph search method. A route planning method for obtaining a local path between subgoals by forming a discretized space having lattice points is known (see Patent Document 2).

JP 2008-021023 A JP 2000-181539 A

  However, in the route planning method shown in Patent Document 2, a large number of subgoals are set in the map information of a predetermined area used by the moving body for movement control, and thus there is a possibility that an extra route is set.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide a moving body map apparatus, a processing method thereof, and a program capable of optimally setting the moving path of the moving body.

  In one aspect of the present invention for achieving the above object, a first storage unit that stores map information divided into a plurality of small areas, a position detection unit that detects a current position of a moving body, and the position detection unit Read out from the map information in the first storage means by the reading means for reading out a predetermined area from the map information in the first storage means according to the current position of the moving body detected by And a second storage means for temporarily storing the predetermined area, wherein each sub-goal that the mobile object is a movement target is set in each small area of the map information. And a route setting means for setting a moving route from the initial position of the moving body to the target position in the map information by connecting the subgoals of the adjacent small areas, respectively, the route setting means including the second Reconnecting the subgoals of each of the small areas to change the path so as to shorten the distance between the subgoals near the current position and the subgoals closer to the target position within a predetermined area of the memory means. It is the mobile map device characterized. According to this aspect, the moving path of the moving body can be set optimally.

  In this aspect, the subgoal may be set at the center position of each small area of the map information.

  In this one aspect, the route setting means selects a plurality of neighboring subgoals from the initial position, selects a plurality of neighboring subgoals from the target position in the map information of the first storage means, and selects the selected initial The shortest or optimal travel path candidate from each subgoal near the position to each subgoal near the selected target position is searched, and the shortest or optimal travel path candidate is searched from among the plurality of searched travel path candidates. May be set as the final movement route. Thereby, the shortest movement route can be set.

  In this aspect, the route setting means sets at least one waypoint through which the moving body always passes on a moving route between the initial position and the target position, and sets a moving route candidate for each waypoint. The search may be performed, and the shortest or optimal travel path candidate may be set as the final travel path from among the plurality of travel path candidates searched. Thereby, the shortest movement route can be set.

  In this aspect, a control parameter may be associated with each subgoal of each small area of the map information. Thereby, a mobile body can be optimally controlled according to the environment of the subgoal of each small area | region of map information.

  In this one aspect, the route setting means evaluates the movement route connecting the subgoals of the small areas and the subgoals of the small areas in the map information of the first storage means using the evaluation function, respectively. May be. Thereby, a more optimal movement route can be set.

  In this aspect, the apparatus may further include control means for controlling movement of the moving body based on a predetermined area of the map information stored in the second storage means.

  On the other hand, according to an aspect of the present invention for achieving the above object, a step of detecting a current position of a moving body and a plurality of small amounts stored in the first storage means according to the detected current position of the moving body. A movement including: reading a predetermined area from the map information divided into areas; and temporarily storing the predetermined area read from the map information in the first storage means in the second storage means In the processing method of the body map device, a subgoal that the moving body is set as a movement target is set in each small area of the map information, and the target position is determined from the initial position of the moving body in the map information. A step of connecting the subgoals of each of the adjacent small areas to each other, setting a subgoal near the current position and a subgoal closer to the target position in the predetermined area of the second storage means, of To shorten the distance, it may be a processing method of a mobile maps apparatus characterized by and a step of changing the respective small regions subgoal to each re-connection path.

  In addition, according to one aspect of the present invention for achieving the above-described object, the sub-goal, which is stored in the first storage unit and is divided into a plurality of small areas, is set as a movement target by the moving body in each of the small areas. Processing for reading a predetermined area from the map information in accordance with the current position of the mobile object, and temporarily storing the predetermined area read from the map information in the first storage means in the second storage means A process of storing, a process of setting a movement path from an initial position of the moving body to a target position in the map information by connecting subgoals of the adjacent small areas, and a predetermined area in the second storage unit In this case, the computer executes processing for reconnecting the subgoals in each of the small areas and changing the route so as to shorten the distance between the subgoal near the current position and the subgoal closer to the target position. It may be a program of a mobile map and wherein the to.

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body map apparatus which can set the moving path | route of a mobile body optimally, its processing method, and a program can be provided.

It is a block diagram which shows schematic structure of the mobile body map apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the map information which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the predetermined area | region read according to the present position of a moving body from map information. (A) It is a figure which shows an example of the method for setting a subgoal in each small area | region of map information. (B) It is a figure which shows an example of the method for setting a subgoal in each small area | region of map information. (C) It is a figure which shows an example of the method for setting a subgoal in each small area | region of map information. (D) It is a figure which shows an example of the method for setting a subgoal in each small area | region of map information. It is a figure which shows the method for reconnecting the subgoal of each small area | region of a predetermined area | region, and changing a path | route. It is a flowchart which shows an example of the route setting method by the route setting part which concerns on Embodiment 1 of this invention. It is a figure which shows the method of setting a final movement path | route from several movement path | route candidates. It is a figure which shows the method of setting a final movement path | route from several movement path | route candidates.

Embodiment 1 FIG.
Embodiments of the present invention will be described below with reference to the drawings. The mobile body map apparatus 10 according to Embodiment 1 of the present invention is mounted on a mobile body 1 such as a mobile robot configured to be able to move autonomously to an arbitrary position. FIG. 1 is a block diagram showing a schematic configuration of the moving body map apparatus according to the first embodiment.

  The mobile body map device 10 according to the first embodiment is detected by the first storage unit 3 that stores the map information 2, the position detection unit 4 that detects the current position of the mobile body 1, and the position detection unit 4. In accordance with the current position of the moving body 1, a reading unit 6 that reads the predetermined area 5 from the map information 2 in the first storage unit 3, and the reading unit 6 reads out the map information 2 in the first storage unit 3. A second storage unit 7 that temporarily stores the predetermined area 5, a route setting unit 8 that sets a movement route from the initial position P1 of the moving body 1 to the target position P2 in the map information 2, and the movement of the moving body 1 is controlled. And a control unit 9 for performing the operation.

  The mobile body map device 10 appropriately reads a predetermined area 5 including the current position of the mobile body 1 from the map information 2 stored in the first storage unit 3 in accordance with the movement of the mobile body 1 and reads the predetermined The region 5 is stored in the second storage unit 7. And the control part 9 controls the movement of the mobile body 1 using the predetermined area | region 5 of the 2nd memory | storage part 7 updated according to the movement of the mobile body 1. FIG.

  The 1st memory | storage part 3 is a specific example of a 1st memory | storage means, and has memorize | stored the map information 2 equally divided | segmented into the some small area 2a in the grid | lattice form (FIG. 2). Each small area 2a is divided into smaller areas (for example, 0.05 m × 0.05 m) according to the resolution of the sensor. The map information 2 includes, for example, information such as the travel path and obstacles of the mobile body 1. The first storage unit 3 is composed of, for example, a large-capacity hard disk device. In addition, although the 1st memory | storage part 3 is the structure provided in the mobile body 1, the structure provided outside the mobile body 1 may be sufficient. In this case, the mobile body 1 can acquire the map information 2 in the first storage unit 3 via wireless or wired connection.

  In each small area 2a of the map information 2, a subgoal 2b that is set as a movement target by the moving body 1 is set, and the moving body 1 moves toward the subgoal 2b in each small area 2a. For example, the subgoal 2b is set at the center position of each small area 2a of the map information 2 (note that it may not be exactly the center position). It is possible to set the position. In the map information 2, the movement path of the mobile body 1 can be arbitrarily set by connecting the subgoals 2b in each small area 2a.

  The second storage unit 7 is a specific example of the second storage unit, and temporarily stores the predetermined area 5 read from the map information 2 of the first storage unit 3 by the reading unit 6. The second storage unit 7 is configured by a memory such as a RAM (Random Access Memory), for example.

  The position detection unit 4 is a specific example of position detection means, and detects the current position of the moving body 1 using a distance sensor 41 mounted on the moving body 1 or a GPS (Global Positioning System) device. The distance sensor 41 includes, for example, an ultrasonic sensor, a millimeter wave sensor, a camera, and the like. The position detection unit 4 is connected to the route setting unit 8 and the reading unit 6, and outputs the detected current position of the moving body 1 to the route setting unit 8 and the reading unit 6.

  The reading unit 6 is a specific example of the reading unit, and reads and reads a predetermined area 5 including the current position of the moving body 1 detected by the position detection unit 4 from the map information 2 of the first storage unit 3. The predetermined area 5 of the map information 2 is stored in the second storage unit 7 (FIG. 3).

  For example, when the reading unit 6 determines that the current position of the moving body 1 detected by the position detection unit 4 is outside the predetermined area 5, the position detection unit 4 searches the map information 2 in the first storage unit 3. The predetermined area 5 centered on the detected current position of the moving body 1 is read and stored in the second storage unit 7 to update the predetermined area 5. Thus, the reading unit 6 partially reads only the predetermined area 5 in the range necessary for the moving body 1 to move from the entire map information 2 of the first storage unit 3, and the second storage unit 7. The storage capacity of the second storage unit 7 is efficiently reduced.

  The predetermined region 5 is formed in, for example, a rectangular shape having a certain area, but is not limited thereto, and can be set in any shape and area. In the predetermined area 5, a predetermined range (for example, a rectangular frame) from the center of the predetermined area 5 may be set.

  In this case, when the reading unit 6 determines that the current position of the moving body 1 detected by the position detection unit 4 is out of the predetermined range of the predetermined region 5, the reading unit 6 reads the position information from the map information 2 in the first storage unit 3. The predetermined area 5 centered on the current position of the moving body 1 detected by the detection unit 4 is read and stored in the second storage unit 7, thereby updating the predetermined area 5. Thereby, useless update in the 2nd storage part 7 can be controlled.

  The route setting unit 8 is a specific example of route setting means, and sets a movement route from the initial position P1 of the moving body 1 to the target position P2 in the map information 2 of the first storage unit 3.

  For example, in the map information 2, for example, the route setting unit 8 detects the subgoal 2b in the small area 2a closest to the initial position P1, and detects the subgoal 2b of the small area 2a closest to the target position P2. (FIG. 3). Next, the path setting unit 8 sets the distance between the subgoal 2b in each of the adjacent small areas 2a from the subgoal 2b in the small area 2a near the initial position P1 to the subgoal 2b in the small area 2a near the target position P2. Are connected to each other so that the moving path of the moving body 1 is set.

  At the time of initial setting of the map information 2, the route setting unit 8 selects an arbitrary position in the predetermined area 5 in the map information 2 (FIG. 4 (a)), and the small area 2a farthest from the position is selected. Each of the subgoals 2b is set (FIG. 4B), and further, the subgoals 2b may be set in the respective small regions 2a farthest from the position while shifting the selected position along the movement path (FIG. 4). (C)). Further, the route setting unit 8 appropriately deletes the redundant subgoal 2b among the subgoals 2b of each small area 2a (FIG. 4D). Thereby, at the time of initial setting, the number of subgoals 2b set in each small area 2a of the map information 2 can be effectively reduced, and the processing amount for the subsequent movement route setting can be reduced.

  The route setting unit 8 has the shortest distance between the subgoal 2b of the small region 2a near the initial position P1 and the subgoal 2b of the small region 2a near the target position P2 in the predetermined region 5 of the second storage unit 7. Thus, the subgoals 2b of the respective small areas 2a are reconnected to change the path (FIG. 5). Thereby, the moving route at the time of initial setting can be reviewed every time the predetermined area 5 of the second storage unit 7 is updated, and a shorter moving route can be set.

  For example, as shown in FIG. 5, the route setting unit 8 sets a dotted moving route at the time of initial setting in the map information 2 of the first storage unit 3, but thereafter, in the predetermined area 5 of the second storage unit 7. Then, a shortcut is performed from the subgoal G1 without passing through the subgoal G2, and the shortest movement path (solid line) is selected so as to move directly to the subgoal G3.

  FIG. 6 is a flowchart showing an example of a route setting method by the route setting unit according to the first embodiment.

  First, the route setting unit 8 detects, for example, the subgoal 2b in the small area 2a closest to the initial position P1 in the map information 2 (step S101). Next, the route setting unit 8 detects the subgoal 2b of the small region 2a closest to the target position P2 (step S102).

  Thereafter, the path setting unit 8 determines the distance between the subgoal 2b in the small area 2a in the vicinity of the initial position P1 to the subgoal 2b in the small area 2a in the vicinity of the target position P2, and the distance between the subgoals 2b in the adjacent small areas 2a. Each is connected so as to be the shortest, and the moving path of the moving body 1 is set (step S103).

  The reading unit 6 includes a predetermined route including the movement route set by the route setting unit 8 from the map information 2 in the first storage unit 3 according to the current position of the moving body 1 detected by the position detection unit 4. The area 5 is read and stored in the second storage unit 7 (step S104).

  Furthermore, in the predetermined area 5 of the second storage unit 7, the path setting unit 8 has a distance between the subgoal 2b of the small area 2a near the initial position P1 and the subgoal 2b of the small area 2a near the target position P2. The subgoals 2b of the respective small areas 2a are reconnected to change the path so as to be the shortest (step S105).

  The control unit 9 is a specific example of a control unit, and controls the movement of the moving body 1 based on a predetermined area 5 stored in the second storage unit 7 and set with a movement route. In this way, from the map information 2 stored in the first storage unit 3 having a large capacity and a slow processing speed, only the predetermined area 5 necessary for traveling at that time is read out and stored in the second storage unit 7 for control. The unit 9 controls the movement of the moving body 1 using the predetermined area 5 of the second storage unit 7 having a high processing speed. Therefore, the control unit 9 can control the moving body 1 at high speed and with high accuracy.

  The mobile body map device 10 includes, for example, a CPU (Central Processing Unit) that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) that stores a control program executed by the CPU, an arithmetic program, and processing data. The hardware configuration is centered on a microcomputer composed of a RAM or the like for storing the memory.

  As described above, in the moving body map device 10 according to the first embodiment, the route setting unit 8 sets the subgoal 2b and the target position P2 in the small region 2a near the initial position P1 in the predetermined region 5 of the second storage unit 7. The routes are changed by reconnecting the subgoals 2b of each small region 2a so that the distance from the subgoal 2b of the small region 2a on the near side is the shortest. Thereby, the movement route can be reviewed as appropriate within the predetermined area 5, and unnecessary movement of the moving body 1 can be reduced. That is, the movement path of the mobile body 1 can be set optimally.

Embodiment 2. FIG.
In the mobile body map apparatus 10 according to the second embodiment of the present invention, the route setting unit 8 selects a plurality of subgoals 2b in the vicinity from the initial position P1 in the map information 2 of the first storage unit 3, and selects each selected The shortest movement path candidate from the subgoal 2b to the subgoal 2b near the target position P2 is searched for (FIG. 7). Then, the route setting unit 8 sets the shortest moving route candidate as the final moving route from the plurality of searched moving route candidates.

  The path setting unit 8 selects a plurality of neighboring subgoals 2b from the target position P2, and selects the shortest moving path candidate from the subgoal 2b near the initial position P1 to each selected subgoal 2b near the target position P2. Alternatively, a plurality of neighboring subgoals 2b may be selected from the initial position P1, a plurality of neighboring subgoals 2b may be selected from the target position P2, and selected from the subgoals 2b near the selected initial position P1. Alternatively, the shortest movement route candidate to each subgoal 2b near the target position P2 may be searched.

  As described above, even if the subgoal 2b closest to the initial position P1 or the target position P2 is selected, the subsequent movement path is not necessarily the shortest. Therefore, from the initial position P1 or the target position P2, as described above. A plurality of neighboring subgoals 2b are selected, and a plurality of moving route candidates are searched. Thereby, the shortest movement route can be set.

  The route setting unit 8 may set an optimum moving route candidate as a final moving route from the plurality of searched moving route candidates. For example, there are obstacles (stairs, doors, narrow passages, etc.) that hinder the movement of the moving body 1 between the subgoals 2b of each small area 2a and the subgoals 2b of each small area 2a. In some cases, the moving body 1 may be difficult to move even when it is the shortest. In such a case, by setting an optimal travel route from the travel route candidates, it is possible to set a travel route in consideration of not only the travel distance of the mobile body 1 but also the difficulty of travel. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

Embodiment 3 FIG.
In the moving body map apparatus 10 according to the third embodiment of the present invention, the route setting unit 8 has at least one waypoint P3 through which the moving body 1 always passes on the moving path between the initial position P1 and the target position P2. May be set (FIG. 8). For example, the route setting unit 8 may search for a moving route candidate for each via point P3, and set the shortest or optimal moving route candidate as the final moving route from the plurality of searched moving route candidates. .

  The route setting unit 8 includes, for example, (first section candidate from the initial position P1 to the first waypoint), (second section candidate from the first waypoint to the second waypoint), and (second waypoint). To (the third section candidate from the third waypoint) to... (The n-1 section candidate from the nth waypoint to the target position P2). The shortest or optimal travel route may be set by combining the candidates from the candidates to the (n-1) th section.

  As described above, the route P3 is provided in the travel route, a plurality of travel route candidates are set, and the shortest or optimum travel route is set from the travel route candidates, so that the travel route is efficiently optimized. be able to. In addition, for example, by setting a point that the mobile body 1 always wants to pass as the via point P3, the mobile body 1 can be sure to pass this point, or by setting the via point P3 away from the point that is desired to be avoided, It is possible to set a movement route for causing the moving body 1 to avoid this point with certainty. In the third embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

Embodiment 4 FIG.
In the mobile body map device 10 according to Embodiment 4 of the present invention, control parameters may be associated with the subgoals 2b of the small areas 2a of the map information 2, respectively. The control unit 9 controls the movement of the moving body 1 based on the predetermined area 5 stored in the second storage unit 7 and the control parameter associated with the subgoal 2b of each small area 2a of the predetermined area 5. To do.

  Here, when controlling the mobile body 1 such as a mobile robot, the control parameters for controlling the mobile body 1 vary depending on the surrounding environment (for each small area 2a). Therefore, the mobile body map device 10 according to the fourth embodiment optimally controls the mobile body 1 using control parameters that are optimally set according to the environment of the subgoal 2b of each small area 2a of the map information 2. can do. Examples of the control parameters include arbitrary parameters for controlling the moving body 1 such as the moving speed, moving acceleration, and control gain of the moving body 1.

  For example, when the control unit 9 reaches the subgoal 2b of a certain small region 2a in the predetermined region 5, the control unit 9 reads the control parameter associated with the subgoal 2b, and until it reaches the subgoal 2b of the next small region 2a, Based on the control parameter, the movement of the moving body 1 is controlled. When the control unit 9 reaches the subgoal 2b of the next small area 2a, the control unit 9 newly reads the control parameter associated with the subgoal 2b and controls the subgoal 2b until it reaches the subgoal 2b of the next small area 2a. Based on the parameter, the movement of the moving body 1 is controlled. In this way, the control unit 9 sequentially reads the control parameters corresponding to each passing subgoal 2b in the process of moving the movement path from the initial position P1 to the target position P2, and moves the moving object according to the read control parameters. The movement of 1 can be optimally controlled.

  For example, by intentionally setting the subgoal 2b at the entrance of a room or a corridor in a hospital or the like, the control parameter can be changed in a timely manner when the moving body 1 enters the room or passes through the intersection. can do. In addition, for example, when CAD information for architecture or the like is converted into map information for robots, control parameters can be easily associated with subgoals to be added later, so other extra work is required for creating map information 2. unnecessary. Furthermore, since the control parameter associated with the subgoal 2b of each small area 2a can be changed for each application, or the arrangement of the subgoal 2b can be changed, the reusability of the map information 2 is high. In the fourth embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

Embodiment 5 FIG.
In the moving body map apparatus 10 according to the fifth embodiment of the present invention, the route setting unit 8 determines the movement route connecting the subgoal 2b of each small region 2a and the subgoal 2b of each small region 2a, respectively, as an evaluation function, etc. You may evaluate using. The evaluation function is, for example, a function indicating the degree of difficulty when the moving body 1 moves along the movement path. The path setting unit 8 calculates an evaluation value for each moving path between the subgoals 2b from the initial position P1 to the target position P2 using an evaluation function, and calculates the sum of the calculated evaluation values.

  For example, the route setting unit 8 sets the movement path so that the number of subgoals that the moving body 1 passes through is minimized so that the moving body 1 always moves along the shortest path, or the moving body 1 sets each subgoal. The movement path may be set so that the sum of the evaluation values of the respective evaluation functions is minimized so that it can easily pass through 2b.

  Further, for example, when traveling on a flat surface because it may be a long trip, when traveling along the shortest route, or when traveling along a wide travel route, the demand for travel differs depending on the moving body 1. Therefore, as described above, a more optimal movement route can be set by evaluating each subgoal 2b of the movement route using the evaluation function. In the fifth embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  In the above-described embodiments, the present invention has been described as a hardware configuration, but the present invention is not limited to this. In the present invention, for example, the processing shown in FIG. 6 can be realized by causing a CPU to execute a computer program.

  The program may be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W and semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included.

  The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 1 Mobile body 2 Map information 2a Small area | region 2b Subgoal 3 1st memory | storage part 4 Position detection part 5 Predetermined area | region 6 Reading part 7 2nd memory | storage part 8 Path | route setting part 9 Control part 10 Mobile body map apparatus

Claims (9)

First storage means for storing map information divided into a plurality of small areas;
Position detecting means for detecting the current position of the moving body;
Reading means for reading out a predetermined area from the map information in the first storage means according to the current position of the moving object detected by the position detection means;
A second storage means for temporarily storing the predetermined area read from the map information in the first storage means by the reading means;
In each small area of the map information, a subgoal that the moving body is a moving target is set, respectively.
Path setting means for setting a moving path from an initial position of the moving body to a target position in the map information by connecting subgoals of the adjacent small areas, respectively,
The path setting unit re-submits the subgoals of the respective small areas so as to shorten the distance between the subgoal near the current position and the subgoal closer to the target position within the predetermined area of the second storage unit. A mobile map apparatus characterized by connecting and changing a route. The mobile body map device according to claim 1,
The mobile object map apparatus, wherein the subgoal is set at a center position of each small area of the map information. The moving body map device according to claim 1 or 2,
The route setting means selects a plurality of neighboring subgoals from the initial position, selects a plurality of neighboring subgoals from the target position, and selects each subgoal near the selected initial position in the map information of the first storage means. To the respective subgoals in the vicinity of the selected target position are searched for the shortest or optimal moving route candidate, and the shortest or optimal moving route candidate is finally moved from the plurality of searched moving route candidates. A moving body map apparatus characterized by being set as a route. It is a moving body map apparatus of any one of Claims 1 thru | or 3, Comprising:
The route setting means sets at least one waypoint through which the moving body always passes on a moving route between the initial position and the target position, searches for a moving route candidate for each waypoint, and performs the search A moving body map apparatus characterized in that the shortest or optimal moving path candidate is set as a final moving path from among the plurality of moving path candidates. It is a moving body map apparatus of any one of Claims 1 thru | or 4, Comprising:
A moving body map apparatus, wherein control parameters are associated with subgoals of each small area of the map information. It is a moving body map apparatus of any one of Claims 1 thru | or 5, Comprising:
The route setting means evaluates a movement route connecting the subgoals of the small areas and the subgoals of the small areas in the map information of the first storage means, using an evaluation function, respectively. Mobile body map device. The moving body map device according to any one of claims 1 to 6,
A moving body map apparatus further comprising control means for controlling movement of the moving body based on a predetermined area of the map information stored in the second storage means. Detecting the current position of the moving object;
Reading out a predetermined area from the map information stored in the first storage means and divided into a plurality of small areas according to the detected current position of the moving body;
A step of temporarily storing the predetermined area read from the map information in the first storage means in a second storage means,
In each small area of the map information, a subgoal that the moving body is a moving target is set, respectively.
A step of setting a movement path from an initial position of the moving body to a target position in the map information by connecting subgoals of the adjacent small areas, respectively,
Within the predetermined area of the second storage means, the subgoals in each of the small areas are reconnected to change the path so as to shorten the distance between the subgoal near the current position and the subgoal closer to the target position. And a process for processing the moving body map device. Stored in the first storage means and divided into a plurality of small areas, and in each of the small areas, a predetermined area is selected from the map information in which the subgoals that the moving object is to be moved are set. Depending on the position, the reading process,
A process of temporarily storing the predetermined area read from the map information of the first storage means in the second storage means;
A process of setting a movement route from the initial position of the moving body to a target position in the map information by connecting subgoals of the adjacent small areas, respectively,
Within the predetermined area of the second storage means, the subgoals in each of the small areas are reconnected to change the path so as to shorten the distance between the subgoal near the current position and the subgoal closer to the target position. A program for a mobile object map apparatus, characterized by causing a computer to execute processing.