JP5981354B2 - Terminal destination determination apparatus, simulation apparatus, mobile terminal apparatus, terminal destination determination method and program - Google Patents

Description

  Embodiments described herein relate generally to a terminal destination determination apparatus, a simulation apparatus, a mobile terminal apparatus, a terminal destination determination method, and a program.

  As described in Patent Document 1, an autonomous distributed network formed by connecting mobile terminals by wireless communication is known. In the autonomous decentralized network of Patent Document 1, relay information that specifies the relative distance between a mobile terminal that transmits or relays this data and a destination terminal is included in data transferred between mobile terminals. Each time the mobile terminal relays data, the mobile terminal updates the relay information. The mobile terminal determines the validity of the received data based on this relay information. As a result, the mobile terminal that intends to relay data determines that the data is valid only when its own device is closer to the destination terminal than other mobile terminals that have transferred data in the past. Therefore, for example, it is possible to prevent a data transfer loop by preventing unnecessary data transmission.

JP 2003-87169 A

Autonomous distributed cooperative network in which each mobile terminal device autonomously moves while maintaining a connection (link) by wireless communication with another mobile terminal device by providing a function capable of moving by the mobile terminal device itself It is possible to construct a system. However, when constructing such an autonomous distributed cooperative network system, there are the following problems.
That is, the geographical conditions around the mobile terminal devices that form the autonomous distributed cooperative network system vary depending on, for example, the presence or absence of roads and shielding objects, differences in topography, and the like. For this reason, the physical range (communication possible range) for each mobile terminal device changes according to the surrounding geographical situation as described above. Further, depending on the surrounding geographical situation, it may be difficult to move the mobile terminal device. For example, when the mobile terminal device has wheels or a walking mechanism for moving on the ground, it is difficult to move the mobile terminal device in geographical situations such as there is no road, there are shielding objects, or there is a steep slope. It becomes.
Thus, when constructing an autonomous distributed cooperative network system in which a mobile terminal device moves autonomously while maintaining communication with other mobile terminal devices, the mobile terminal device moves and moves according to the surrounding geographical conditions. Various restrictions on communication arise.

  Therefore, in an autonomous distributed cooperative network system in which mobile terminal devices move autonomously, each of the mobile terminal devices determines a destination so that communication between the mobile terminal devices can be maintained under the above restrictions. Is required. However, in Patent Document 1, for example, only a circular communication range is assumed, so that it is understood that communication or movement restrictions such as changes in the communication range according to the surrounding geographical conditions are included. However, how to deal with it was not considered.

  In order to solve the above-described problems, the terminal destination determination apparatus according to the present embodiment includes a position of a mobile terminal apparatus that is a destination determination target, a position of another mobile terminal apparatus, and a periphery of the mobile terminal apparatus that is a destination determination target. A communication status determination unit that determines a communication status between a mobile terminal device that is a destination determination target and another mobile terminal device based on the geographical status of the mobile terminal device, a geographical status around the mobile terminal device that is a destination determination target, A destination determination unit that determines a destination of the destination mobile terminal device based on the communication status determined by the communication status determination unit.

  In addition, the simulation apparatus according to the present embodiment is configured so that the above-described terminal movement destination determination apparatus and the movement destination determination target mobile terminal apparatus are moved to the movement destination determined by the movement destination determination unit. And a display control unit for displaying on the map.

  In addition, the mobile terminal apparatus according to the present embodiment performs communication with the above-described terminal movement destination determination apparatus that determines the movement destination as the movement destination determination target mobile terminal apparatus and the other mobile terminal apparatus. And the position information indicating the position of the other mobile terminal device received by the communication unit communicating with the other mobile terminal device. A position information acquisition unit; a movement mechanism unit that moves the main body; and a movement control unit that controls the movement mechanism unit so that the main body is moved to the movement destination determined by the movement destination determination unit.

  In addition, the terminal destination determination method according to the present embodiment is based on the position of the mobile terminal device that is the destination determination target, the position of the other mobile terminal device, and the geographical situation around the mobile terminal device that is the destination determination target. The communication status determination step for determining the communication status between the mobile terminal device targeted for movement destination determination and another mobile terminal device, the geographical status around the mobile terminal device targeted for the movement destination determination, and the communication status determination step And a destination determination step for determining a destination of the destination mobile terminal device based on the communication status.

  In addition, the program of the present embodiment is based on the location of the mobile terminal device that is the destination determination target, the location of the other mobile terminal device, and the geographical situation around the mobile terminal device that is the destination determination target. It is determined by the communication status determination step for determining the communication status between the mobile terminal device targeted for movement destination and other mobile terminal devices, the geographical status around the mobile terminal device targeted for movement destination determination, and the communication status determination step. And a movement destination determination step for determining a movement destination of the movement destination determination target mobile terminal apparatus based on the communication status.

It is a figure which shows the structural example of the simulation apparatus in 1st Embodiment. It is a figure which shows the example of the memory content which the map information storage part of 1st Embodiment memorize | stores. It is a figure which shows the example of the content of the map data in the map information of 1st Embodiment. It is a figure which shows the example of the content of the division area data in the map information of 1st Embodiment. It is a figure which shows the example of a display mode of the simulation result by the simulation apparatus of 1st Embodiment. It is a figure for demonstrating the example of 1 method for the movement destination determination which the movement destination determination part of 1st Embodiment performs. It is a figure for demonstrating the example of 1 method for the movement destination determination which the movement destination determination part of 1st Embodiment performs. It is a figure for demonstrating the example of 1 method for the movement destination determination which the movement destination determination part of 1st Embodiment performs. It is a figure for demonstrating the example of 1 method for the movement destination determination which the movement destination determination part of 1st Embodiment performs. It is a figure which shows the example of a process sequence which the simulation apparatus of 1st Embodiment performs. It is a figure which shows the example of a process sequence which the simulation apparatus of 1st Embodiment performs for calculation of a movement fitness. It is a figure which shows the example of a display mode of the simulation result by the simulation apparatus of 2nd Embodiment. It is a figure which shows the example of a process sequence which the simulation apparatus of 2nd Embodiment performs. It is a figure which shows the structural example of the mobile terminal device in 3rd Embodiment. It is a figure which shows the example of a process sequence which the mobile terminal device of 3rd Embodiment performs. It is a figure which shows the structural example of the mobile terminal device in 4th Embodiment. It is a figure which shows the example of a process sequence which the mobile terminal device of 4th Embodiment performs.

<First Embodiment>
[Example configuration of simulation device]
FIG. 1 shows a configuration example of a simulation apparatus 100 according to the first embodiment. The simulation device 100 is a device that performs a simulation of an autonomous distributed cooperative network system formed by a plurality of mobile terminal devices that can move autonomously.
The mobile terminal device in the autonomous distributed cooperative network system performs communication with other mobile terminal devices by wireless communication. The simulation apparatus 100 according to the present embodiment simulates how each mobile terminal apparatus moves while ensuring communication in the autonomous distributed cooperative network system, for example, when a specific mobile terminal apparatus is moved to a destination. can do.

  In addition, in this embodiment, the mobile terminal device which moves autonomously can be comprised as an apparatus which mounted the communication terminal device in the vehicle which carries out autonomous driving | running | working unattended, for example. Moreover, the mobile terminal device that moves autonomously can be configured as a robot including a moving mechanism. As such a moving mechanism of the robot, for example, a mechanism that moves by wheels may be applied, and a walking mechanism such as biped walking or quadruped walking may be applied. Further, for example, a flight mechanism including a rotary wing may be applied as a moving mechanism of the robot.

A simulation apparatus 100 illustrated in FIG. 1 includes a map information storage unit 101, a node basic information storage unit 102, a communication status determination unit 103, a movement destination determination unit 104, a display control unit 105, a display unit 106, and an operation unit 107.
The configuration including the communication status determination unit 103 and the movement destination determination unit 104 is an example of the terminal movement destination determination device 1 that determines the movement destination of the mobile terminal device. The simulation apparatus 100 includes a function as the terminal movement destination determination apparatus 1.

  The map information storage unit 101 stores map information. The map information is used to determine the destination of the mobile terminal device in the simulation for the autonomous distributed cooperative network system. The simulation result is output, for example, by displaying the position of the mobile terminal device forming the autonomous distributed cooperative network system on the map image on the display unit 106. The map information is also used as a map image when displaying the simulation result in this way.

Here, the map information stored in the map information storage unit 101 will be described with reference to FIGS.
FIG. 2 shows an example of stored contents of the map information storage unit 101. As shown in FIG. 2, the map information storage unit 101 stores map information 110. The map information 110 includes map data 111 and segmented area data 112.

The map data 111 is, for example, data representing a map at a predetermined scale in a certain area range. The map data 111 includes, for example, information on an image as a map, information on positions of roads and facilities, altitude information on topographic contour lines, building heights, and the like.
In addition, the map data 111 is set with a segmented region in which the planar direction is segmented by a certain area.

  FIG. 3 schematically shows an example in which the map data 111 is divided by the divided area DAR. FIG. 3 shows an example in which a square segment area DAR of N rows × M columns is set for the map data 111 whose overall shape in the planar direction is rectangular. One side of the divided area DAR may be set in a range of several meters to several tens of meters. The size of the segmented area DAR may be changed as appropriate according to specifications such as a communication range of the mobile terminal apparatus and actual geographical conditions. Further, the divided area DAR may have a shape other than a square, such as a rectangle or a triangle. Further, the divided area DAR may have a three-dimensional structure including a height direction with respect to a planar direction (two dimensions). In the following, an example of a square plane will be given for the divided region DAR for the convenience of making the explanation easy to understand.

FIG. 4 shows an example of the contents of the segment area data 112. The partitioned area data 112 has a structure in which predetermined information is associated with each partitioned area DAR. In the example of FIG. 4, the segmented area data 112 has a structure in which a geographical fitness is associated with each coordinate (segmented area coordinate) of the segmented area DAR represented by (row, column).
The geographical adaptability is a numerical value indicating the geographical adaptability when the mobile terminal device that moves autonomously moves to the corresponding divided area DAR. For example, when the mobile terminal device is a vehicle, it is easy to move on a flat place such as a road, and difficult to move on a non-flat place (for example, a slope or a forest). For this reason, when the segmented area DAR is a flat place such as a road, a high value is set for the degree of geographical fitness. On the other hand, when the segmented area DAR is a place that is not flat, a low value is set for the geographical fitness. For example, when the segmented area DAR is a slope, the degree of geographic conformity decreases as the inclination angle increases. In addition, since a vehicle cannot enter a segmented area DAR where buildings, facilities, etc. exist, for example, a road collapses or collapses, the geographical fitness is “0” or a value close to this. become.

  Returning to the description using FIG. The node basic information storage unit 102 stores basic information (node basic information) for each node to be simulated. A node is each mobile terminal device that forms an autonomous distributed cooperative network system to be simulated. In the following description, the mobile terminal device is also called a node.

  The node basic information includes, for example, information related to wireless communication specifications such as a communication range, directivity, electric field strength, and sensitivity for each mobile terminal device. If wireless communication specifications are common between mobile terminal devices, the node basic information storage unit 102 may store information about one mobile terminal device as node basic information. For example, by forming an autonomous distributed cooperative network system with mobile terminal devices of the same model, it is possible to make wireless communication specifications common among mobile terminal devices.

The communication status determination unit 103 determines the destination determination target based on the position of the destination mobile terminal device, the position of the other mobile terminal device, and the geographical situation around the destination mobile terminal device. The communication status between the mobile terminal device and another mobile terminal device is determined.
For this determination process, the communication status determination unit 103 acquires the position information of the mobile terminal device that is the destination determination target and the position information of other mobile terminal devices. The communication status determination unit 103 acquires the position information from the determination result of the movement destination by the movement destination determination unit 104. The communication status determination unit 103 obtains the position of the mobile terminal device existing in a certain range including the position of the mobile terminal device to be determined as the destination of movement as the position of the other mobile terminal device.

  In addition, the communication status determination unit 103 determines the geographical status around the mobile terminal device that is the destination of movement destination determination. For this determination process, the communication status determination unit 103 reads from the map data 111 a certain range of map data starting from the position of the mobile terminal device to be determined as the destination. And the communication condition determination part 103 determines the surrounding geographical condition from the information shown in the read map data part. The geographic status determined by the communication status determination unit 103 mainly affects the propagation of radio waves transmitted and received during wireless communication, such as the height of the terrain (contour lines), the position of buildings (including facilities), and the height thereof. It is a physical situation that may give

The communication status determination unit 103 determines the communication status as follows using the position and the geographical status of the mobile terminal apparatus acquired as described above.
For example, each mobile terminal apparatus has a basic communication range pattern according to transmission power, reception sensitivity, directivity, and the like. As an example, if non-directional, the communication range has a pattern that is substantially circular with a certain radius. Also, the method of attenuation of the electric field strength distribution in the communication range is the same in all directions according to the distance from the mobile terminal device, for example.

  For such a basic pattern of the communication range (hereinafter referred to as “basic pattern”), the communication status determination unit 103 specifies the communication specifications for each mobile terminal device stored in the node basic information storage unit 102. Etc. can be obtained by using information about such as. Alternatively, the basic node information may be designed in advance to include information indicating a basic pattern of the communication range, and this information may be read and acquired by the communication status determination unit 103.

  When a shield such as a slope, a building, or a facility exists within the communication range, the radio wave is blocked by the shield, and the pattern of the communication range and the electric field strength distribution change according to the geographical situation. The communication status determination unit 103 obtains a communication range that changes according to the geographical status for the mobile terminal device that is the destination determination target and other mobile terminal devices. The communication status determination unit 103 also obtains the distribution of the electric field strength in the communication range changed in this way.

The movement destination determination unit 104 determines the movement destination of the movement destination determination target mobile terminal device based on the geographical situation around the movement destination determination target mobile terminal device and the communication state determined by the communication state determination unit 103. decide.
The movement destination determination unit 104 according to the present embodiment calculates the movement fitness for each divided area DAR when determining the movement destination of the mobile terminal apparatus that is the movement destination determination target. The mobility adaptability indicates the adaptability when the mobile terminal device that is the destination determination target moves to the segmented area DAR. The movement destination determination unit 104 calculates the movement fitness based on the geographical situation around the mobile terminal device that is the movement destination determination target and the communication status determined by the communication status determination unit 103.

An example of a more specific method of calculating the mobility fitness is as follows. First, the movement destination determination unit 104 acquires the geographical suitability for each divided area DAR around the mobile terminal device that is the movement destination determination target from the divided area data 112 in the map information 110.
Further, the movement destination determination unit 104 calculates a communication suitability for each divided area DAR based on the communication status determined by the communication status determination unit 103. The communication adaptability indicates the adaptability when the mobile terminal device as the destination determination target communicates with another mobile terminal device.
Then, the movement destination determination unit 104 calculates the movement fitness using the geographical fitness and the communication fitness acquired as described above.

The display control unit 105 causes the mobile terminal device to be determined as the destination to move to the destination determined by the destination determination unit 104 to be displayed on the map together with other mobile terminal devices. That is, the display control unit 105 displays a simulation result about the movement of the mobile terminal device in the autonomous distributed cooperative network system. At this time, the display control unit 105 displays the map image using the map data 111.
The display unit 106 displays the simulation result according to the control of the display control unit 105.

  The operation unit 107 is an operation input device for performing an operation on the simulation apparatus 100. For example, when the simulation apparatus 100 of this embodiment is embodied by a computer apparatus, the operation unit 107 includes, for example, a mouse and a keyboard. The operation unit 107 may be configured as a touch panel integrated with the display unit 106.

[Example of display of simulation result of simulation device]
FIG. 5 shows an example of how the simulation result is displayed by the simulation apparatus 100. FIG. 5 shows a screen P of the display unit 106. On the screen P, a map image is displayed.
FIG. 5 corresponds to an example in which an autonomous distributed cooperative network system is formed using four mobile terminal devices. Four nodes ND1 to ND4 in FIG. 5 indicate four mobile terminal apparatuses that form an autonomous distributed cooperative network system.

Node ND1 represents a mobile terminal device as a base station node. In the specific example shown in FIG. 5, the position of the mobile terminal device as a base station is fixed and does not move. In the following description, the node ND1 may be described as the base station node ND1.
Nodes ND2 and ND3 indicate relay nodes. The relay node is a node that relays communication between the node (mobile terminal device) and the node. In the following description, the node ND2 and the node ND3 may be referred to as a relay node ND2 and a relay node ND3, respectively.
The node ND4 is a leading node that moves to the destination DS shown on the map of the screen P. The head node is a terminal node located at the terminal on the communication path of the autonomous distributed cooperative network. In the following description, the node ND4 may be described as the head node ND4.

  In FIG. 5, in order to assist in understanding the positional relationship between the nodes ND1 to ND4, the communication range CR1 of the node (mobile terminal device) corresponding to each of the nodes ND1 to ND4 determined by the communication status determining unit 103. ~ CR4 is shown.

First, in FIG. 5A, an initial state in which the nodes ND1 to ND4 in the autonomous distributed cooperative network system have not yet started moving is displayed. At this time, the nodes ND1 to ND4 are located at substantially the same place on the road of the map.
As described above, since the nodes ND1 to ND4 are located at substantially the same place, the communication ranges CR1 to CR4 determined by the communication status determination unit 103 are also in a state including substantially the same area range. Further, the communication range shown here is shown as being changed from the basic pattern by being blocked by the topography of the slope indicated by the contour line on the upper center side of the map.

  When the user causes the simulation apparatus 100 to perform a simulation, the destination DS is traced from the state shown in FIG. 5A while following the road on the map so that the node ND1, which is the first node, is indicated by a dashed arrow a, for example. Drag to move it closer to the. The position where the drag operation is released is, for example, in the vicinity of the tip portion of the arrow a.

  In response to this drag operation, the image displayed on the screen P changes, for example, as shown in FIG. That is, the head node ND4 moves from the position shown in FIG. 5A to the position when the drag operation is released as shown in FIG. 5B. At the same time, as shown in FIG. 5B, the relay nodes ND2 and ND3 also move so as to be positioned between the base station node ND1 and the head node ND4 on the road.

  The leading node ND4 is a node that should move to the destination DS in the autonomous distributed cooperative network system. In the process in which the leading node ND4 moves to the destination DS, it is necessary that the communication between the base station node ND1 and the leading node ND4 is always maintained without being disconnected. For this reason, in the autonomous distributed cooperative network system, the relay nodes ND2 and ND3 are appropriate so that communication between the base station node ND1 and the head node ND4 is maintained by at least one of the relay nodes ND2 and ND3. Move autonomously by determining the correct position.

5B, the communication ranges CR2, CR3, and the communication ranges CR2, CR3, which are obtained by the communication status determination unit 103 corresponding to the positions of the relay nodes ND2 and ND3 and the position of the head node ND4 shown in FIG. CR4 is shown. Note that since the position of the base station node ND1 is fixed and has not moved, there is no change in the communication range CR1 corresponding thereto.
As shown in FIG. 5B, the base station node ND1 is included in the communication range CR2 of the relay node ND2. On the other hand, the relay node ND2 is included in the communication range CR1 of the base station node ND1. That is, a link is established between the base station node ND1 and the relay node ND2.

The relay node ND2 is included in the communication range CR3 of the relay node ND3, and the relay node ND3 is included in the communication range CR2 of the relay node ND2. That is, a link is established between the relay node ND2 and the relay node ND3.
Further, the relay node ND3 is included in the communication range CR4 of the head node ND4, and the head node ND4 is included in the communication range CR3 of the relay node ND3. That is, a link is established between the relay node ND3 and the head node ND4.
As a result, the base station node ND1 and the head node ND4 are maintained in a state where they can communicate with each other by relay via the two relay nodes ND2 and ND3.

Further, in the state of the image content shown in FIG. 5B, when the user further performs a drag operation for moving the leading node ND4 to the destination DS as indicated by the arrow b, the screen P is displayed as shown in FIG. It changes to the state shown in c).
In FIG. 5C, the leading node ND4 has completed the movement to the destination DS. Further, each of the relay nodes ND2 and ND3 has moved from the position in FIG. 5B to a position closer to the destination DS side on the road. As described above, the two relay nodes ND2 and ND3 are moved in accordance with the movement of the leading node ND4 to the destination DS.

  FIG. 5C shows communication ranges CR1 to CR4 obtained by the communication status determination unit 103 corresponding to the positions of the nodes ND1 to ND4 shown in FIG. 5C. According to the positional relationship between the communication ranges CR1 to CR4 and the nodes ND1 to ND4 in FIG. 5C, the same inter-node link as in FIG. 5B is established. That is, also in FIG.5 (c), the base station node and the head node maintain the state which can communicate with each other by relaying via two relay nodes.

As described above, in the simulation apparatus 100 according to the present embodiment, the position of the relay node for maintaining communication between the head node and the base station node in accordance with the movement of the head node on the map by a user operation. Is determined and its position is displayed.
As a result, the user can grasp in advance how the relay node moves in the process in which the leading node moves to the destination DS. Further, for example, when the link between the relay nodes cannot be established at the stage where the leading node is advanced to a certain point, the display control unit 105 performs display for error notification. By notifying the error in this way, for example, the user can know that the number of relay nodes is insufficient and that another route should be considered.

The user can confirm whether or not the link is established by performing an operation for simulation again after resetting to increase the number of relay nodes, for example. Alternatively, the user can confirm whether or not the link is established by changing the route for moving the leading node to the destination DS and performing the operation for simulation again.
As described above, depending on the simulation apparatus of the present embodiment, for example, the optimal number of mobile terminal apparatuses (nodes) in the autonomous distributed cooperative network system and the optimal course for moving the mobile terminal apparatus are accurately grasped in advance. Can be kept.

[Destination determination example using movement fitness]
Next, a specific example of processing for the movement destination determination unit 104 to determine a movement destination using the movement fitness will be described with reference to FIGS.
FIG. 6 schematically shows a map partitioned by a partition area DAR of 15 rows × 15 columns. In the array of the divided areas DAR, numbers 1 to 15 are assigned to the rows and the columns, respectively. In the description of FIGS. 6 to 9, the position of the partitioned area DAR is indicated by coordinates (row number, column number) based on a matrix of row and column numbers.

  On the map of FIG. 6, three nodes ND11, ND12, and ND13 and communication ranges CR11, CR12, and CR13 corresponding to each of these are shown. Here, for the convenience of making the description simple and easy to understand, the communication ranges are indicated by circular patterns having the same radius.

Here, as an example, the node ND11 corresponds to the mobile terminal device as the head node (terminal node), and the head node is moved upward in the map. In this case, the nodes ND12 and ND13 are relay nodes.
In the following description, the node ND11 may be described as the head node ND11, and the nodes ND12 and ND13 may be described as the relay nodes ND12 and ND13. In FIG. 6, for the sake of convenience of explanation, a node closer to the base station node than the relay node ND13 on the communication path is omitted. For this reason, the relay node ND13 is also a terminal node for convenience.
In the following description, the geographical situation in FIGS. 6 to 9 assumes a case where a node (mobile terminal device) can move in any divided area DAR.

In FIG. 6, the leading node ND11 is located in the segmented area DAR at coordinates (6, 6), the relay node ND12 is located in the segmented area DAR at coordinates (9, 8), and the relay node ND13 is coordinated (12, 10). Is located in the divided area DAR.
In this state, the head node ND11 is included in the communication range CR12 of the relay node ND12, and the relay node ND12 is included in the communication range CR11 of the head node ND11. The relay node ND12 and the relay node ND13 are also included in the communication range CR13 and the communication range CR12. For this reason, a link is established between the head node ND11 and the relay node ND12, and a link is also established between the relay node ND12 and the relay node ND13. Thereby, the leading node ND11 and the relay node ND13 are in a state where they can communicate with each other by the relay of the relay node ND12.

When moving the nodes ND11, ND12, and ND13, the movement destination determination unit 104 moves the head node ND11, and then moves the relay nodes ND12 and ND13 in the order closer to the head node. . Then, the movement destination determination unit 104 repeats such movement until the leading node ND11 reaches the destination.
Therefore, when moving the nodes ND11, ND12, and ND13, the movement destination determination unit 104 first determines a movement destination using the first node ND11 as a movement destination determination target, and then moves to the determined movement destination. Let FIG. 6 schematically shows processing for determining the destination of the leading node ND11.

In determining the movement destination of the first node ND11, the movement destination determination unit 104 sets eight divided areas DAR adjacent to the divided area DAR where the first node ND11 is located as movement destination candidates. Then, the movement destination determination unit 104 calculates the movement fitness for each of the eight divided areas DAR that are movement destination candidates.
In FIG. 6, the head node ND11 is located in the segmented area DAR of coordinates (6, 6). In this case, the movement destination determination unit 104 is adjacent to the coordinates (6, 6), the coordinates (5, 5), the coordinates (5, 6), the coordinates (5, 7), the coordinates (6, 5), the coordinates ( 6, 7), the coordinates (7, 5), the coordinates (7, 6), and the coordinates (7, 7) of each segmented area DAR are calculated. As described above, the movement suitability is, for example, the geographical suitability for each partitioned region DAR read from the partitioned region data 112 of the map information 110 and the communication suitability for each partitioned region DAR obtained by the destination determination unit 104. Based on and. FIG. 6 shows the movement suitability obtained for each of the eight divided areas DAR that are movement destination candidates.

“0” is set for the geographical suitability of the segment area DAR at the coordinates (5, 5) among the segment areas DAR of the movement destination candidates. This is because the segment area DAR of coordinates (5, 5) is included only in the communication range CR11 of the first node ND11, and is not included in any of the communication ranges CR12, CR13 of the other relay nodes ND12, ND13. It depends.
In order to maintain communication in the autonomous distributed cooperative network system, one of the conditions is that the head node, which is a terminal node, is included in the communication range of at least one other node (relay node or base station node). . However, when the leading node ND11 moves from the state of FIG. 6 to the segmented area DAR at the coordinates (5, 5), the leading node ND11 cannot establish a link with any of the relay nodes ND12 and ND13. In this way, for the partitioned area DAR that cannot be linked to a node other than the node to be determined as the movement destination, the movement destination determination unit 104 calculates a movement fitness of “0”.

  In this case, the remaining seven coordinates (5, 6), coordinates (5, 7), coordinates (6, 5), coordinates (6, 7), coordinates (7, 5), coordinates (7, 6) Among the segmented areas DAR at the coordinates (7, 7), the one having the highest movement fitness is “60” of the segmented area DAR at the coordinates (5, 7). Therefore, the movement destination determination unit 104 determines that the segment area DAR at the coordinates (5, 7) is the movement destination of the head node ND11.

  FIG. 7 shows a state in which the leading node ND11 is moved from the coordinates (6, 6) to the segmented area DAR at the coordinates (5, 7) according to the determination result of FIG. When the leading node ND11 is moved to the movement destination determined in this way, the movement destination determination unit 104 selects the relay node ND12 that is directly linked to the leading node ND11 as the movement destination determination target. Then, the movement destination determination unit 104 sets eight division areas DAR adjacent to the division area DAR in which the relay node ND12 that is the movement destination determination target is located as a movement destination candidate, and sets each of the movement destination candidates for each division area DAR. Calculate the mobility fitness.

  Here, in order to maintain communication in the autonomous distributed cooperative network system, the relay node needs to establish a link with at least two other nodes. For this purpose, the relay node needs to be included in the communication range of at least two other nodes.

For this purpose, out of the divided area DAR as eight destination candidates adjacent to the coordinate (9, 8) where the relay node ND12 is located, the coordinate (8, 7), the coordinate (10, 7), the coordinate (10, 8) “0” is obtained for the degree of movement adaptability of the segmented area DAR at the coordinates (10, 9).
That is, the segment area DAR that is the destination of the relay node ND12 needs to be included in the communication range CR11 of the top node ND11 and the communication range CR13 of the relay node ND13.

  However, among the divided areas DAR as the movement destination candidates, the divided area DAR at the coordinates (8, 7) is not included in the communication range CR13. In addition, among the divided areas DAR as the movement destination candidates, the divided areas DAR having the coordinates (10, 7), the coordinates (10, 8), and the coordinates (10, 9) are not included in the communication range CR11. For this reason, the mobility adaptability is calculated as “0” for these four divided regions DAR.

The divided areas DAR included in the communication ranges CR11 and CR13 include four divided areas DAR with coordinates (8, 8), coordinates (8, 9), coordinates (9, 7), and coordinates (9, 9). It is. The highest value of the movement adaptability of these four segmented areas DAR is “64” of the segmented area DAR at the coordinates (8, 9).
Therefore, the movement destination determination unit 104 determines that the segmented area DAR at the coordinates (8, 9) is the movement destination of the relay node ND12.

  FIG. 8 shows a state in which the relay node ND12 is moved from the coordinates (9, 8) to the segmented area DAR at the coordinates (8, 9) according to the determination result of FIG. When the relay node ND12 is moved in this way, the destination determination unit 104 moves directly to the relay node ND12 and moves the relay node ND13 that exists in the path on the base station node side with respect to the relay node ND12. Select it as the target to be determined.

The relay node ND13 is located in the partitioned area DAR at coordinates (12, 10). Therefore, the movement destination determination unit 104 calculates the movement fitness for the eight divided areas DAR adjacent to the coordinates (12, 10). In FIG. 8, the calculated movement fitness is shown for each divided area DAR. As described above, the relay node ND13 is shown as a terminal node for convenience.
The terminal node needs to be included in the communication range of at least one other relay node in order to establish a link with at least one other relay node.

For this reason, among the eight segmented regions DAR whose mobility suitability is calculated in FIG. 8, the coordinates (13, 9), the coordinates (13, 10), the coordinates (13, 10), which are not included in the communication range CR12 of the relay node ND12. For the segmented area DAR of 11), a movement adaptability of “0” is calculated.
Since the remaining five divided areas DAR are all included in the communication range CR12 of the relay node ND12, a mobility adaptability value greater than “0” is required. The highest value of the movement fitness of these five divided areas DAR is “59” of the divided area DAR at coordinates (11, 9).
Therefore, the movement destination determination unit 104 determines that the segment area DAR at the coordinates (11, 9) is the movement destination of the relay node ND13.

FIG. 9 shows a state in which the relay node ND13 is moved from the coordinates (12, 10) to the segmented area DAR at the coordinates (11, 9) according to the determination result of FIG.
According to FIG. 9, the top node ND11 is maintained in the state included in the communication range CR12 of the relay node ND12. Further, the relay node ND12 is maintained in a state included in both the communication range CR11 of the leading node ND11 and the communication range CR13 of the relay node ND13.
That is, in the process in which the leading node ND11 and the relay nodes ND12 and ND13 are sequentially moved as shown in FIGS. 6 to 9, the communication between the leading node ND11 and the relay node ND13 is possible by the relay of the relay node ND12. Is always maintained.

  For example, the simulation apparatus 100 according to the present embodiment can perform a drag operation to move the first node as illustrated in FIG. In response to the drag operation, the movement destination determination unit 104 determines the movement destination of each node according to the order of connection on the communication path from the head node to the base station node (downstream to upstream) for each divided region DAR. The process of moving the node first is executed. Then, the movement destination determination unit 104 repeats this process until the head node reaches the movement destination designated by the drag operation, for example. The display control unit 105 displays the position of each node thus moved on the map as needed. As a result, as described above with reference to FIG. 5, the simulation result is displayed in which the relay node is moved in accordance with the movement of the leading node by the drag operation.

In addition, the movement destination determination unit 104 may perform an operation using auxiliary parameters (auxiliary parameters) such as a threshold value and a weighting value in the process until the movement fitness is calculated.
A specific example of processing using auxiliary parameters is as follows. In the description of FIGS. 6 to 9, the movement destination determination unit 104 has a value of “0” for the movement fitness of the segmented area DAR that is not included in the communication range of other nodes adjacent to the movement destination determination target node. Is calculated. For example, the destination determination unit 104 can use the threshold as follows when calculating a value of “0”.

  As an example, when determining the communication suitability of the segmented area DAR based on the communication status determined by the communication status determining unit 103, for example, the destination determination unit 104 calculates the field strength of other nodes in the segmented area DAR. It can be used as one of the parameters. As for the electric field strength of other nodes in the segmented area DAR, the communication status determination unit 103 uses the surrounding geographical status and information related to the communication specifications of other nodes stored in the node basic information storage unit 102. It is possible to ask.

  In addition, the movement destination determination unit 104 determines whether or not the electric field strength of other nodes in the divided area DAR is equal to or higher than a threshold value. If the electric field strength is less than the threshold value, the movement destination determination unit 104 sets “0” for the communication suitability, assuming that the movement destination determination target node is not included in the communication range of other nodes. When the communication suitability is “0”, the destination determination unit 104 determines that the travel suitability is also “0” regardless of the value of the geographical suitability. On the other hand, if the electric field strength is greater than or equal to the threshold value, the destination determination unit 104 determines that the node to which the destination is determined is included in the communication range of another node, and uses the electric field strength to determine the communication suitability as it is. calculate. Then, the movement destination determination unit 104 calculates the movement fitness using the communication fitness and the geographic fitness.

  In the above example, the destination determination unit 104 compares the electric field strength and the threshold. For example, after the destination determination unit 104 calculates the communication suitability using parameters such as the electric field strength, The destination determination unit 104 may compare the communication suitability with a threshold value. In this case, for example, if the communication suitability is equal to or greater than the threshold, the destination determination unit 104 determines that the node to be determined as a destination is included in the communication range of the other nodes, and the calculated communication suitability and geographic fit. The moving fitness may be calculated based on the degree. On the other hand, if the communication suitability is less than the threshold value, the destination determination unit 104 determines that the node to which the destination is determined is not included in the communication range of other nodes, and does not depend on the value of the geographical suitability. Is calculated as “0”.

In calculating the movement fitness, the movement destination determination unit 104 may use a weighting value as an auxiliary parameter.
As an example, when the direction in which the node should move is on the upper side of the map (for example, north) as in the examples of FIGS. 6 to 9, for example, For the eight partitioned regions adjacent to the partitioned region DAR to be set, a higher weighting value is set as the node is located in the direction in which the node should move (in this case, the north side). In addition, the movement destination determination unit 104 calculates the movement fitness by a predetermined calculation using, for example, the geographic fitness, the communication fitness, and the weight value. As a result, for example, even if there are a plurality of segmented areas DAR having the same mobility adaptability value depending on only the geographic adaptability and the communication adaptability, the segmented area DAR located in the direction in which the node to be moved is to be moved It is possible to set a high value of the movement fitness of. Therefore, it is possible to move each node to a position more suitable for the course in the direction to be moved.

  For example, the weighting values set as described above are reflected in the movement suitability of the divided area DAR of the eight movement destination candidates in FIG. That is, in FIG. 6, among the eight movement destination candidate divided areas DAR, the movement fitness value of the divided area DAR at the coordinates (5, 7) is the highest at “60”. This is an example of a result obtained by the movement destination determination unit 104 using the weighting value set so as to be higher as it is located on the north side.

  In addition, as described above, a relay node needs to have a link established with at least two other nodes, and a terminal node needs to establish a link with at least one relay node. It is. Further, for example, communication is more stable as the number of links with other nodes in one node increases. However, as the number of links increases, the physical distance between the plurality of nodes becomes closer, and it becomes difficult to distribute the nodes over a wide range.

  Therefore, for example, an auxiliary parameter (such as a threshold value or a weighting value) corresponding to the number of links may be set. In this case, the movement destination determination unit 104 stores a correspondence table between a preset number of links and auxiliary parameters. The destination determination unit 104 may calculate the communication fitness using, for example, the number of links and the auxiliary parameter corresponding thereto, and obtain the mobility fitness using the calculated communication fitness and the geographic fitness. . Note that the communication status determination unit 103 can determine the number of links for each divided area DAR.

  As an example, if a threshold value is used as an auxiliary parameter corresponding to the number of links, the threshold value corresponding to the number of links is set high in order to stabilize communication between nodes. The movement destination determination unit 104 calculates, for example, that the moving fitness is “0” for the segmented area DAR having the number of links less than the threshold. On the other hand, the movement destination determination unit 104 calculates the communication fitness using the number of links for the segment area DAR having the number of links equal to or greater than the threshold, and then moves using the communication fitness and the geographic fitness. Calculate the fitness.

  According to such calculation of the mobility adaptability, the partitioned area DAR whose number of links with other nodes is less than the threshold is excluded from the destination candidates. That is, the movement destination determination unit 104 selects only the partitioned area DAR whose number of links with other nodes is equal to or greater than the threshold as the movement destination of each node. This makes it possible to maintain the communication stability in the autonomous distributed cooperative network system at a certain level or higher.

  On the other hand, if it is desired to distribute the nodes over a wide range, the movement destination determination unit 104 may calculate the movement adaptability in the same manner as described above after setting the threshold corresponding to the number of links low. In this case, even in the partitioned area DAR with a small number of links with other nodes, the mobility adaptability is set high due to other factors. Accordingly, for example, the nodes can be moved so as to be distributed over a wide range while maintaining communication in the autonomous distributed cooperative network system.

  In addition, when the destination determination unit 104 determines the destination, it may be necessary to disconnect the link from the destination destination determination target node and another node that has established a link so far. At this time, the destination determination unit 104 is required to determine the destination so that communication is not interrupted in the autonomous distributed cooperative network system.

For example, the movement destination determination unit 104 can avoid the division of communication in the autonomous distributed cooperative network system by determining the movement destination as follows.
The destination determination unit 104 determines a representative node in advance in the autonomous distributed cooperative network system. For example, the movement destination determination unit 104 may set a node that satisfies a certain condition as a representative node in the process of movement of the node in the autonomous distributed cooperative network system. For example, the communication status determination unit 103 recognizes the communication path to the representative node for each node in the autonomous distributed cooperative network system.

In addition, the movement destination determination unit 104 determines the partitioned area DAR as follows as the movement destination of the movement destination determination target node. In other words, the destination determination unit 104 selects other nodes (in the route that does not include the node to which the destination is determined, among the routes in which the terminal node is connected to the representative node directly or via the relay node) A segmented area DAR in which a link with a connection target node) can be established is determined as a movement destination.
In order to determine the destination in this way, for example, the communication status determination unit 103 specifies the connection target node and determines the communication range (effective communication range) of the specified connection target node. In addition, the movement destination determination unit 104 may set “0” for the movement fitness of the divided area DAR that is not included in the effective communication range among the divided areas DAR of the movement destination candidates.

  In this way, the segmented area DAR that is not included in the effective communication range is not determined as the movement destination, and the node to which the movement destination is determined always has a node and a link on the route connected to the representative node. It is possible to move to the established partition area DAR. As a result, for example, when a node moves to a determined destination, even if a link with another node that has been established so far is disconnected, communication in the autonomous distributed cooperative network system can be performed. It can be prevented from being divided.

Note that, for example, when considering that there is a possibility of communication being interrupted due to some factors such as geographical conditions, the autonomous distributed cooperative network system may be operated as follows.
Here, the state where the communication is divided in the autonomous distributed cooperative network system corresponds to a state where the communication path to the representative node is divided, for example. Therefore, when the communication status determination unit 103 determines that communication has been divided, the movement destination determination unit 104 determines an alternative representative node from among the nodes in the autonomous distributed cooperative network system.
In addition, the movement destination determination unit 104 can determine an alternative representative node according to a predetermined priority order for determining an alternative representative node, for example. Alternatively, the destination determination unit 104 may determine, as an alternative representative node, a node selected as appropriate based on the geographical situation, the communication situation, the communication path formation state, and the like.
However, when determining an alternative representative node, it is required that the same one node is determined as an alternative representative node among a plurality of nodes. As an example, when two nodes recognize each other's node as an alternative representative node, these two nodes are separated from the autonomous distributed cooperative network system. Various algorithms for determining an alternative representative node for avoiding such a state are conceivable. As an example, a node that is determined to have been determined as an alternate representative node declares (notifies) by broadcast that it is an alternate representative node to other nodes connected to itself. It may be an algorithm.
In addition, the movement destination determination unit 104 appropriately determines the movement destination of the movement destination determination target node so that the node is connected to the route including the alternative representative node.
If the communication path to the original representative node can be restored, the destination determination unit 104 may establish a connection with a node included in the communication path with the original representative node, for example. To determine the destination of the destination node. In addition, the movement destination determination unit 104 cancels the setting of the alternative representative node.
By such control, for example, even if communication is disconnected, communication can be restored by communication via an alternative representative node.

Further, for example, when the head node moves away from the base station node, the relay node in the autonomous distributed cooperative network system needs to move so as to expand and spread in the field. On the other hand, when the leading node moves so as to approach the base station node, the relay nodes in the autonomous distributed cooperative network system need to move so as to be concentrated in the field.
In order to appropriately expand and collect such nodes, the movement destination determination unit 104 can determine the movement destination as follows.

  For example, the communication status determination unit 103 determines the number of hops (communication distance) to the representative node for each node as one of the communication statuses. Then, when it is necessary to expand the node, the movement destination determination unit 104 includes the divided areas included in the communication range of the node having a large number of hops to the representative node among the divided areas DAR of the movement destination candidates. Prioritize DAR as a destination. On the other hand, when it is necessary to gather the nodes, the movement destination determination unit 104 includes the divided areas included in the communication range of the node having a small number of hops to the representative node among the divided areas DAR of the movement destination candidates. Prioritize DAR as a destination.

Thus, in order to prioritize the number of hops to the representative node and determine the segmented area DAR, a weight value corresponding to the number of hops to the representative node may be set. When it is necessary to expand the nodes, the movement destination determination unit 104 sets the weighting value so that the number of hops to the representative node increases in the order of the number of hops to the representative node for each movement destination candidate segmented area DAR. The destination determination unit 104 calculates, for example, a communication suitability using the weighting value set in this way. Then, the movement destination determination unit 104 may calculate the movement fitness based on the calculated communication fitness and the geographic fitness.
As a result, the destination determination unit 104 preferentially determines the segment area DAR included in the communication range of the node having a large number of hops to the representative node as a destination, and as a result, the node expands. You can move each node as you go.

On the other hand, when nodes need to be gathered, the destination determination unit 104 sets the weight value so that it increases as the number of hops to the representative node decreases. In addition, the movement destination determination unit 104 calculates the movement fitness using the weighting value as described above.
Specifically, when it is necessary to expand the nodes, the movement destination determination unit 104 sets the weighting value so that the number of hops to the representative node increases in the order of decreasing the number of hops to the representative node for each of the movement destination candidate divided areas DAR. Set. The movement destination determination unit 104 calculates, for example, a communication fitness using the weighting values set in this way, and calculates a mobility fitness based on the calculated communication fitness and geographic fitness.
As a result, the destination determination unit 104 preferentially determines the segment area DAR included in the communication range of the node with a small number of hops to the representative node as the destination, so that each node is assigned so that the nodes are gathered. Can be moved.

[Example of processing procedure]
The flowchart in FIG. 10 illustrates an example of a processing procedure executed by the simulation apparatus 100 according to the first embodiment.
First, the movement destination determination unit 104 in the simulation apparatus 100 waits for an operation for dragging and moving the head node on the screen P as described with reference to FIG. 5 (step S101—NO). ).

In response to the operation for moving the head node (step S101—YES), the destination determination unit 104 selects a node (mobile terminal device) to be determined from the head node and the relay node. Select (step S102).
If the destination determination unit 104 moves from step S101 to step S102, or moves to step S102 in response to the determination of “NO” in step S112 described later, the movement destination determination unit 104 selects the first node. Select as a destination decision target. In addition, when the destination determination unit 104 proceeds to step S102 in response to the determination of “NO” in step S111 described later, the destination determination unit 104 performs the process on the route from the leading node to the base station node each time. Relay nodes are selected according to the order in which the distance approaches.

Next, the communication status determination unit 103 reads from the map information storage unit 101 a certain range of map information 110 including the position of the node selected as the movement destination determination target in step S102 (step S103). At this time, for example, the communication status determination unit 103 reads out from the segmented region data 112 the degree of geographical suitability for the segmented region DAR of the destination candidate corresponding to the destination node to be determined.
In addition, the communication status determination unit 103 determines the position of each node currently displayed so as to be arranged on the map image based on, for example, the determination result of the movement destination of the node so far by the movement destination determination unit 104. (Step S104).

  Based on the map information 110 read out in step S103, the communication status determination unit 103 determines, for example, the geographical status between the destination determination target node and other nodes adjacent to the node (step). S105). The geographical situation determined here is a physical situation that may affect the propagation of radio waves transmitted and received during wireless communication, as described above. For example, it is mainly the height of the terrain (contour lines), the position of a building or the like (including facilities) and its height.

  Then, the communication status determination unit 103 determines the communication status between the destination determination target node and other nodes based on the position of each node acquired from step S104 and the geographical status determined in step S105. (Step S106). The communication status determined here is, for example, the electric field strength or communication range for each node that has changed according to the topography or the like, as can be understood from the above description. In addition, the communication status may be whether or not a link between the destination determination target node and another node is established, and path information for each node (presence / absence of a representative node in the path, the number of hops to the representative node, etc.). .

Next, the movement destination determination unit 104 calculates a communication suitability for each movement destination candidate segmented area DAR based on the communication status determined in step S106 (step S107).
Then, the movement destination determination unit 104 determines the geographical fitness for each movement destination candidate division area DAR read from the division area data 112 in step S103 and the communication for each movement destination candidate division area DAR determined in step S107. The suitability for movement is calculated using the suitability (step S108).

  The movement destination determination unit 104 determines a divided area DAR as a movement destination from among the divided areas DAR of the movement destination candidates based on the movement fitness calculated in step S108 (step S109). As described above, the movement destination determination unit 104 may determine, as the movement destination, the movement area candidate DAR having the highest movement fitness calculated in step S108, for example.

The display control unit 105 executes display control on the map image displayed on the display unit 106 so that the movement destination determination target node is positioned in the segment area DAR as the movement destination determined in step S109. (Step S110).
As a result of the control in step S110, for example, like the first node ND11 shown in FIGS. 6 and 7, the node to which the movement destination is to be determined is determined as the movement destination from the divided area DAR that has been located so far. It is displayed to move to the area DAR.

  Next, the movement destination determination unit 104 determines whether or not the movement of all nodes in the autonomous distributed cooperative network system has been completed (step S111). Here, “all nodes” are nodes that can be a destination decision target, and are relay nodes ND2, ND3 and head node ND4 excluding base station node ND1 in correspondence with FIG.

When the movement of all the nodes has not been completed (step S111—NO), the movement destination determination unit 104 returns to step S102 to shift to a process for determining a movement destination for the next relay node.
On the other hand, when the movement of all the nodes is completed (step S111-YES), the movement destination determination unit 104 further reaches the position (operation designated position) where the top node is designated as the movement destination by the drag operation at the current stage. It is determined whether or not it has been reached (step S112).

When it is determined that the leading node has not reached the operation designated position (step S112—NO), the movement destination determination unit 104 returns to step S102 and selects the leading node as a movement destination determination target node. The subsequent processing is executed. As a result, the process for moving the first node toward the destination DS in units of the divided area DAR and sequentially moving the relay nodes is started again.
On the other hand, when it is determined that the top node has reached the operation designated position (step S112—YES), the movement destination determination unit 104 returns to step S101, so that a drag operation for moving the top node is performed next. Wait for.

The flowchart of FIG. 11 shows an example of a processing procedure for calculating the degree of movement suitability for one segmented area DAR in step S108 of FIG. The process shown in FIG. 11 is an example of a process that uses auxiliary parameters in calculating the mobility adaptability.
Corresponding to the processing shown in FIG. 11, in step S107 of FIG. 10, communication suitability that preferentially reflects the electric field strength of other nodes is calculated. Therefore, the destination determination unit 104 compares the communication suitability calculated in step S107 with a threshold value, and determines whether or not the communication suitability is equal to or greater than the threshold value (step S201).
When the communication suitability is less than the threshold (step S201—NO), the movement destination determination unit 104 outputs a calculation result of “0” for the move suitability (step S202).

On the other hand, when the communication suitability is greater than or equal to the threshold (step S201—YES), the movement destination determination unit 104 determines the traveling direction (direction) of the movement destination determination target node (step S203).
At this time, the destination determination unit 104 can determine, for example, the direction (direction) of the leading node from the base station node toward the destination DS as the traveling direction. Alternatively, for example, as in the example of FIG. 5, when it is assumed that the node (mobile terminal device) moves on the road while moving toward the destination DS, the destination determination unit 104 May determine the advancing direction at that time according to the direction of the road on the way to the destination DS.

For example, the eight movement destination candidate segment areas DAR shown in FIG. 6 and the like are respectively angles with respect to the traveling direction determined in step S203 in accordance with the positional relationship with the segment area DAR where the destination node is to be determined. Have a difference.
Accordingly, the movement destination determination unit 104 sets a weighting value w corresponding to the angular difference with respect to the traveling direction determined in step S203 for the segment area DAR for which the movement fitness is to be calculated (step S204). The destination determination unit 104 may be set so that the weighting value w increases as the angle difference with respect to the traveling direction decreases, for example.

  Next, the movement destination determination unit 104 calculates the movement fitness of the segment area DAR for which the movement fitness is to be calculated (step S205). At this time, the destination determination unit 104 uses the geographical suitability acquired in step S103 in FIG. 10, the communication suitability calculated in step S107 in FIG. 10, and the weighting value w set in step S204. To do.

<Second Embodiment>
[Overview]
Next, a second embodiment will be described. In the second embodiment, when the simulation apparatus 100 displays a simulation result, a communication status display indicating a communication status between nodes is added.

FIG. 12 shows an example of an image of a simulation result displayed on the screen P by the simulation apparatus 100 of the second embodiment. The map image displayed on the screen P in FIG. 12 and the positions of the base station node ND1, the relay nodes ND2, ND3, and the head node ND4 are in the same state as in FIG. 5B, for example.
In addition, in the simulation image of the second embodiment, a display indicating the number of links established between the nodes ND1 to ND4 for each divided region is performed as a communication status display between the nodes ND1 to ND4.

Specifically, in FIG. 12, in the range where both the base station node ND1 and the relay node ND2 are located and the communication range CR1 and the communication range CR2 overlap, the link between the base station node ND1 and the relay node ND2 is established. Therefore, the number of links is “1”.
In FIG. 12, in the range where the relay node ND2 is located and the communication range CR1, the communication range CR2, and the communication range CR3 overlap, the relay node ND2 establishes a link with the base station node ND1, and the relay node ND2 A link with the node ND3 is established. Therefore, the number of links in this range is “2”.
In FIG. 12, in the range where the relay node ND3 is located and the communication range CR2, the communication range CR3, and the communication range CR4 overlap, the relay node ND3 establishes a link with the relay node ND2, and the leading node A link with ND4 is established. Therefore, the number of links in this range is also “2”.
In FIG. 12, since the relay node ND3 and the head node ND4 are both located and the communication range CR3 and the communication range CR4 overlap, the link between the relay node ND3 and the head node ND4 is established. The number of links is “1”.

In the simulation apparatus 100 according to the second embodiment, the communication status determination unit 103 determines the geographical distribution for the number of links using the determination result for the communication range.
The display control unit 105 indicates the geographical distribution of the number of links determined by the communication status determination unit 103 as a communication status display for each divided area DAR on the map image of the screen P.

In the specific example shown in FIG. 12, the display control unit 105 displays a dividing line corresponding to the segmented area DAR for the map image on the screen P. In addition, the display control unit 105 indicates the number of links for the segmented area DAR indicated by the dividing line. In FIG. 12, the display control unit 105 indicates this distribution by hatching. For example, a specific color is assigned for each number of links, and the color assigned to the corresponding number of links is displayed for each divided area DAR. May be. In this case, the display control unit 105 may set the transparency to the color and display the map or the image of the node so that it can be seen.
By displaying in this way, the user can easily understand how the communication status between the nodes at that time is in the autonomous distributed cooperative network system according to the distribution state of the nodes. .

In the example of FIG. 12, the node (mobile terminal device) is limited to movement on the road. In such a case, the destination determination unit 104 can determine, for example, a partitioned area DAR to which the node can move next by combining the number of links and the geographical fitness. Therefore, the display control unit 105 may perform a display (movable area display) on the screen P that indicates the partitioned area DAR to which the node can move next. For example, FIG. 12 shows a mode in which the segment area DAR to which the relay nodes ND2, ND3 and the head node ND4 can move next is indicated by an arrow AR.
By performing such display, the user can easily grasp the overall movement tendency of the nodes in the autonomous distributed cooperative network system.

The display control unit 105 may display the communication status while omitting the movable area display. Conversely, the display control unit 105 may perform the movable area display while omitting the communication status display.
In addition, the above communication status display indicates the number of links between nodes for each classification area DAR as the communication status. You may make it show for every area | region DAR.

[Example of processing procedure]
The flowchart in FIG. 13 illustrates an example of a processing procedure executed by the simulation apparatus 100 according to the second embodiment. In FIG. 13, steps that are the same as those in FIG. 10 are denoted by the same reference numerals, and description thereof is omitted.
The display control unit 105, for example, performs display for moving the destination determination target node in step S110, and then displays the communication status display and the movable display described in FIG. Step S110A).

<Third Embodiment>
[Configuration example of mobile terminal device]
Subsequently, a third embodiment will be described. The third embodiment is not a simulation device but a mobile terminal device (node) that forms an autonomous distributed cooperative network system.
The mobile terminal apparatus according to the third embodiment performs wireless communication with other mobile terminal apparatuses by autonomous distribution in an autonomous distributed cooperative network system. In addition, the mobile terminal device according to the third embodiment autonomously determines a position where the own device should move, and moves to the determined position.

FIG. 14 shows a configuration example of the mobile terminal apparatus 100A in the third embodiment. In FIG. 14, the same parts as those in FIG. Hereinafter, differences from the simulation apparatus 100 of FIG. 1 will be mainly described.
14 includes a map information storage unit 101, a node basic information storage unit 102, a communication status determination unit 103, a movement destination determination unit 104, a communication unit 121, a position information acquisition unit 122, a positioning unit 123, a movement mechanism. Unit 124 and movement control unit 125. The mobile terminal device 100A determines the destination of the mobile terminal device 100A as the target mobile terminal device to be determined. Then, the mobile terminal device 100A moves the own device to the determined destination.

  In FIG. 14, the map information storage unit 101 and the node basic information storage unit 102 of the mobile terminal device 100A may have the same configuration as that of the first embodiment. Further, the map information 110 stored in the map information storage unit 101 may have the same configuration as that of the first embodiment.

  The communication unit 121 in the mobile terminal device 100A performs communication with other mobile terminal devices by wireless communication. Note that the wireless communication method supported by the communication unit 121 is not particularly limited, and for example, a wireless LAN (Local Area Network) can be employed.

The position information acquisition unit 122 of the mobile terminal device 100A acquires position information indicating the position of the own device measured by the positioning unit 123. The positioning unit 123 measures the position of its own device using, for example, a GPS (Global Positioning System).
The location information acquisition unit 122 of the mobile terminal device 100A acquires location information indicating the location of another mobile terminal device received by the communication unit 121 communicating with the other mobile terminal device.

Further, the location information acquisition unit 122 of the mobile terminal device 100A causes the communication unit 121 to transmit the location information indicating the location of the own device acquired from the positioning unit 123 to another mobile terminal device.
The communication status determination unit 103 of the mobile terminal device 100A determines the communication status between the own device and another mobile terminal device. At this time, the communication status determination unit 103 uses the position of the own device indicated by the position information acquired by the position information acquisition unit 122 and the position of another mobile terminal device.
The destination determination unit 104 of the mobile terminal device 100A may have the same configuration as that shown in FIG. However, the movement destination determination unit 104 of the mobile terminal apparatus 100A does not need to determine the movement destinations of other mobile terminal apparatuses, and may determine the movement destination of the own apparatus. That is, the mobile terminal device 100A repeatedly determines the destination of its own device.

The movement mechanism unit 124 is a mechanism unit that moves the main body as the mobile terminal device 100A. As described above, the movement mechanism unit 124 may be a vehicle or an airplane body, or may be a wheel, a walking mechanism, a flight mechanism, or the like in a robot.
The movement control unit 125 controls the movement mechanism unit 124 so that the main body of the mobile terminal device 100A is moved to the destination determined by the destination determination unit 104.

  By forming such an autonomous distributed cooperative network system having the mobile terminal device 100A as a node, the following operations can be realized. That is, in the autonomous distributed cooperative network system, each of the other mobile terminal devices 100A maintains communication in the autonomous distributed cooperative network system as the leading node (mobile terminal device 100A) moves to the destination DS. It is possible to move the vehicle autonomously after determining the destination.

[Example of processing procedure]
The flowchart of FIG. 15 shows an example of a processing procedure executed by the mobile terminal device 100A of FIG.
In the mobile terminal device 100A, the destination determination unit 104 determines whether there is a moving node among other nodes included in a communication distance (for example, the number of hops) within a certain range starting from the own device. (Step S301).

  Each of the mobile terminal devices in the autonomous distributed cooperative network system transmits a movement start notification by, for example, broadcast when the own device starts moving, and transmits a movement end notification when the movement is completed. Therefore, whether there is another mobile terminal device that is moving, for example, based on the reception status of the movement start notification and the movement end notification in the communication unit 121, the movement end notification is still not transmitted It may be determined whether there is another mobile terminal device that has not transmitted.

When there is another mobile terminal apparatus that is moving (YES in step S301), the movement destination determination unit 104 waits until there is no other mobile terminal apparatus that is moving. That is, when there is another mobile terminal device that is moving, the mobile terminal device 100A maintains the state where the mobile device is stopped without moving.
As described above, in the autonomous distributed cooperative network system, when a plurality of mobile terminal devices that are within a certain range of distance move at the same time, the communication path that should not be disconnected is caused by the movement, and the network Communication may not be maintained. Therefore, the mobile terminal device 100A prevents the own device from moving when another mobile terminal device is moving by the process of step S301.

  When there is no other mobile terminal device that is moving (NO in step S301), the movement destination determination unit 104 transmits a movement start notification from the communication unit 121 by broadcast (step S302). Other mobile terminal apparatuses that have received the movement start notification maintain a stopped state without moving until the mobile terminal apparatus 100A completes movement and transmits a movement end notification.

Next, the destination determination unit 104 reads out the map information 110 stored in the map information storage unit 101 and the degree of geographic conformity (step S303). The process in step S303 may be the same as step S103 in FIG.
Further, the position information acquisition unit 122 acquires the position measured by the positioning unit 123 as the position of the own device. Further, the location information acquisition unit 122 acquires location information transmitted from each of the other mobile terminal devices via communication by the communication unit 121 (step S304). Further, the position information acquisition unit 122 transmits the position information of the own device to other mobile terminal devices via communication by the communication unit 121.

  The communication status determination unit 103 determines the geographical status between the mobile terminal device 100A and another mobile terminal device based on the map information read in step S303 (step S305). Note that the process of step S305 may be the same as step S105 of FIG. 13, for example.

In addition, the communication status determination unit 103 determines that the mobile terminal device 100A and other mobile terminal devices are based on the positions of the own device and other mobile terminal devices acquired in step S304 and the geographical status determined in step S305. The communication status between the two is determined (step S306). The process in step S306 may be the same as that in step S106 in FIG.
The movement destination determination unit 104 calculates the communication suitability for each movement destination candidate segmented area DAR based on the communication status determined in step S306 (step S307).

Then, the movement destination determination unit 104 calculates the movement fitness based on the geographic fitness for each segment area DAR of the movement destination candidate acquired in step S303 and the communication fitness calculated in step S307 (step S308).
Then, the movement destination determination unit 104 determines a divided area DAR as a movement destination from among the movement area candidate divided areas DAR based on the movement fitness determined in step S308 (step S309). Note that steps S307 to S309 may be the same as steps S107 to S109 in FIG.

Next, the movement control unit 125 controls the movement mechanism unit 124 so that the mobile terminal device 100A moves to the divided area DAR determined as the movement destination in step S309 (step S310). Then, the movement destination determination unit 104 transmits a movement stop notification from the communication unit 121 by, for example, broadcast in response to the mobile terminal device 100A reaching the divided area DAR as the movement destination (step S311). After finishing the process as step S311, the destination determination unit 104 returns to step S301.
Through such processing, each mobile terminal device in the autonomous distributed cooperative network system can move autonomously while maintaining communication with other mobile terminal devices in the vicinity.

<Fourth Embodiment>
[Overview]
Next, a fourth embodiment will be described. 100 A of mobile terminal apparatuses of 3rd Embodiment memorize | stored the map information 110 in the map information storage part 101 previously. On the other hand, in the fourth embodiment, the map information storage unit 101 does not store the map information 110 in advance, and generates the map information 110 in the process of moving the mobile terminal device in the autonomous distributed cooperative network system. The map information 110 is shared between mobile terminal devices.

  Hereinafter, a specific example of the fourth embodiment will be described. Of the mobile terminal devices forming the autonomous distributed cooperative network system, one mobile terminal device operating as a master is determined in advance. All other mobile terminal devices operate as slaves. Then, each mobile terminal device as a slave forming the autonomous distributed cooperative network system detects a surrounding geographical situation using a sensor such as a camera and transmits the detected geographical situation information to the master mobile terminal device. To do. Further, the slave mobile terminal device relays the geographical situation received from the other slave mobile terminal device and transmits it to the other mobile terminal device (master or slave). As a result, the master mobile terminal device acquires information on the geographical situation detected by each slave mobile terminal device. The master mobile terminal device generates map information using the acquired geographical situation information, and transmits the generated map information to each of the slave mobile terminal devices (for example, by broadcast). Each of the slave mobile terminal devices stores the received map information. Furthermore, the slave mobile terminal device relays the received map information and transmits it to other mobile terminal devices. By such an operation, the same map information is shared between the mobile terminal devices forming the autonomous distributed cooperative network system.

  In addition, the slave mobile terminal device transmits, for example, information on the geographical situation detected by the own device to the master mobile terminal device every time the own device completes movement. The master mobile terminal device updates, for example, each time geographic status information is received or when the received geographic status information reaches a certain number, and the updated map information is slaved. To the mobile terminal device. In this way, the map information shared by the mobile terminal device is updated as needed.

As described above, in the configuration in which the map information is constructed as the mobile terminal device moves, for example, autonomously as an autonomous distributed cooperative network system even in a land where the map information is not obtained in advance because it is geographically unknown. Wireless communication and movement are possible.
Further, when the map information is constructed in accordance with the movement of the mobile terminal device in this way, since the degree of geographical suitability is not known, the map data 111 and the segmented region data 112 (segmented region coordinates, (Geographic suitability) is not stored when the autonomous distributed cooperative network system starts to move. In the fourth embodiment, for example, the master mobile terminal device generates map data 111 as the slave mobile terminal device moves, and sequentially calculates the segmented region coordinates and the geographical fitness in the segmented region data 112. Then, the master mobile terminal device may store the generated map data 111 and segmented area data 112.

In addition, in the fourth embodiment, when determining the communication status, the communication status determination unit 103 recognizes the geographical status around the mobile terminal device to be determined based on the map information 110 shared as described above. To do.
The destination determination unit 104 also recognizes the geographical situation around the mobile terminal device that is the destination of the destination determination based on the map information 110 shared as described above. Then, the movement destination determination unit 104 may calculate the geographical suitability of the movement destination candidate segmented area DAR based on the recognition result.

[Configuration example of mobile terminal device]
FIG. 16 illustrates a configuration example of a mobile terminal device 100B as the fourth embodiment. In FIG. 16, the same components as those in FIG. 14 are denoted by the same reference numerals, and differences from FIG. 14 will be mainly described here.
A mobile terminal device 100B illustrated in FIG. 16 has a configuration in which a geography detection unit 126 and a map information generation unit 127 are added to the configuration of the mobile terminal device 100A illustrated in FIG.

  The geography detection unit 126 detects the surrounding geography. For example, the geography detection unit 126 can detect a geographical situation by analyzing an image capturing apparatus that captures the surroundings and an image captured by the image capturing apparatus. Further, the geography detection unit 126 may detect the geography based on the reflection of radio waves or sound waves after outputting radio waves or sound waves. Further, as the detection information of the geographical situation, for example, any information indicating an altitude (contour line) in the surrounding environment may be used. When the mobile terminal device 100B is a slave, the communication unit 121 transmits information on the geographical situation (geographical state information) detected by the geographic detection unit 126 to the master mobile terminal device.

  The map information generation unit 127 functions when the mobile terminal device 100B is set as a master, and generates wide-area map information using the geographical situation information transmitted from other mobile terminal devices. The communication unit 121 transmits the generated map information to the slave mobile terminal device.

[Example of processing procedure]
The flowchart of FIG. 17 shows an example of a processing procedure executed in order for the master mobile terminal device and the slave mobile terminal device in the fourth embodiment to share map information. In the description of FIG. 17, a case where both the master mobile terminal device and the slave mobile terminal device adopt the configuration of the mobile terminal device 100B of FIG. 16 is taken as an example.

In the master mobile terminal device, the movement control unit 125 determines whether or not it is the timing when the movement to the movement destination is completed (step S401).
For example, if the master mobile terminal device is in a moving state, or if it has been stopped but has already detected the surrounding geographical situation when it has stopped moving (NO in step S401), map information generation The unit 127 executes the following processing. That is, the map information generation unit 127 determines whether or not the communication unit 121 has received the geographical situation information transmitted from the slave mobile terminal device (step S403). The geographical situation information transmitted from the slave mobile terminal device is information indicating the surrounding geography detected by the slave mobile terminal device.

If the geographical situation information transmitted from the slave mobile terminal device has not been received (step S403—NO), the movement control unit 125 returns to the process of step S401.
As described above, the master mobile terminal device waits for the timing when the movement to the destination is completed. In addition, the master mobile terminal device waits for reception of the geographical situation information transmitted from the slave mobile terminal device.

  In response to the end of the movement to the destination (step S401—YES), the geography detection unit 126 detects the surrounding geography (step S402). Thereby, the geography detection part 126 outputs the geography status information which shows the geography situation around the master mobile terminal device.

When geographic situation information is received from a slave mobile terminal device (step S403—YES),
The map information generation unit 127 updates the map information using the geographical situation information (step S404). Further, also when the geographical situation information indicating the geographical situation around the master mobile terminal device is obtained in step S402, the map information generation unit 127 updates the map information using the geographical situation information (step S404). ).
The map information generation unit 127 transmits the map information generated in step S404 from the communication unit 121, for example, by broadcast (step S405). The map information updated by the master mobile terminal device is received by each of the slave mobile terminal devices. Further, the map information storage unit 101 stores the map information updated by the map information generation unit 127 in step S404 (step S406). As a result, the map information stored in the master mobile terminal device itself is also updated.

In the slave mobile terminal device, the movement control unit 125 determines whether or not it is the timing when the movement to the movement destination is completed (step S501).
When it is time to end the movement to the destination (YES in step S501), the geographic detection unit 126 detects the surrounding geographic status (step S502), and transmits the geographic status information indicating the detected geographic status to the communication unit. 121 is transmitted to the master mobile terminal device (step S503).

In addition, the communication unit 121 waits for the reception of map information transmitted from the master mobile terminal device (procedure according to Step S504-NO and Step S501-NO). Then, in response to the reception of the map information from the master mobile terminal device (step S504—YES), the map information storage unit 101 stores the received map information (step S505).
As described above, in the fourth embodiment, map information shared between mobile terminal devices is updated each time the mobile terminal device in the autonomous distributed cooperative network system moves and the surrounding geography changes.

As a modification, an autonomous distributed cooperative network system may be configured as follows. In other words, for example, one of the mobile terminal devices 100A or 100B in the autonomous distributed cooperative network system is a master mobile terminal device and the other mobile devices are slave mobile terminal devices.
The slave mobile terminal device transmits position information indicating the position of the own device to the master mobile terminal device. Based on the position indicated by the position information for each mobile terminal device, the master mobile terminal device determines a destination for the own mobile device and each slave mobile terminal device. Then, the destination instruction information indicating the determined location of the destination is transmitted for each slave mobile terminal device. Each of the slave terminal devices moves to the position indicated by the received destination instruction information.
In the case of this configuration, the functional unit for determining the destination may be provided only in the master mobile terminal device, and can be omitted from the slave mobile terminal device.

  The use of the autonomous distributed cooperative network system of the present embodiment described so far is not particularly limited, but can be used as a rescue system or a communication system in a disaster area, for example.

  Further, a program for realizing the functions of the respective units in FIGS. 1, 14 and 16 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. Thus, simulation of an autonomous distributed network system, autonomous movement control of a mobile terminal device, and the like may be performed. Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included. The program may be a program for realizing a part of the above-described functions, or may be a program that can realize the above-described functions in combination with a program already recorded in a computer system.

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to these embodiment, The design etc. of the range which does not deviate from the summary of this invention are included.

DESCRIPTION OF SYMBOLS 1 Terminal movement destination determination apparatus 100 ... Simulation apparatus 100A, 100B ... Mobile terminal apparatus 101 ... Map information storage part 102 ... Node basic information storage part 103 ... Communication status determination part 104 ... Movement destination determination part 105 ... Display control part 106 ... Display Unit 107 ... Operation unit 110 ... Map information 111 ... Map data 112 ... Segmented area data 121 ... Communication unit 122 ... Position information acquisition unit 123 ... Positioning unit 124 ... Movement mechanism unit 125 ... Movement control unit 126 ... Geography detection unit 127 ... Map Information generator

Claims (11)

Based on the position of the mobile terminal device that is the destination determination target, the position of the other mobile terminal device, and the geographical situation around the mobile terminal device that is the destination determination destination, A communication status determination unit for determining the communication status with the terminal device;
A destination determining unit that determines a destination of the destination mobile terminal device based on the geographical situation around the destination terminal mobile terminal device and the communication status determined by the communication status determining unit When the destination of the mobile terminal device that is the destination determination target is determined, the other mobile terminal devices that are included in a certain range starting from the mobile terminal device that is the destination determination destination are not moved. A terminal movement destination determination device comprising a destination determination unit. The destination determination unit
Based on the geographical situation around the mobile terminal device targeted for movement destination and the communication status determined by the communication status determination unit, from among the divided areas that divide the periphery of the mobile terminal device targeted for movement destination The terminal destination determination apparatus according to claim 1, wherein a destination of the destination mobile terminal apparatus is determined. The destination determination unit
Movement indicating suitability when the mobile terminal device of the movement destination determination target moves based on the geographical situation around the mobile terminal device of the movement destination determination target and the communication status determined by the communication status determination unit The terminal movement destination determination apparatus according to claim 2, wherein a fitness level is calculated for each segmented area, and a segmented area as a movement destination is determined based on the calculated movement fitness level. The destination determination unit
Based on the communication status determined by the communication status determination unit, the communication suitability indicating the suitability when the mobile terminal device targeted for the movement destination communicates with other mobile terminal devices is calculated for each segmented region. And
The mobility adaptability for each segmented area is calculated based on the communication adaptability for each segmented area and the geographical situation indicating the geographic adaptability when the mobile terminal device to be moved is moved. Item 4. The terminal destination determination apparatus according to Item 3. A terminal destination determination apparatus according to any one of claims 1 to 4 ,
A simulation apparatus comprising: a display control unit configured to display a state in which the mobile terminal device to be determined as a destination has moved to the destination determined by the destination determination unit on a map together with other mobile terminal devices. The terminal destination determination device according to any one of claims 2 to 4,
A display control unit for displaying on a map together with other mobile terminal devices a state in which the mobile terminal device to which the destination is determined has moved to the destination determined by the destination determination unit;
The display control unit
Based on the communication status determined by the communication status determination unit, the communication status between the mobile terminal device that is the destination determination target and the other mobile terminal device for each of the divided areas set on the map A simulation device that displays the communication status. The display control unit
Based on the geographical situation around the mobile terminal device to be determined as the destination and the communication status determined by the communication status determination unit, the segmented region that satisfies the geographical condition and the communication status condition that the mobile terminal device can move simulation device according to claim 5 or 6 for moving area display indicating. The terminal destination determination device according to any one of claims 1 to 4 , wherein the destination is determined as the destination mobile terminal device of the destination, and the destination is determined.
A communication unit that performs communication with the other mobile terminal device;
Position information for acquiring position information indicating the position of the other mobile terminal apparatus received by the communication unit acquiring position information indicating the position of the measured own apparatus and communicating with the other mobile terminal apparatus An acquisition unit;
A moving mechanism for moving the device itself;
A mobile terminal device comprising: a movement control unit that controls the moving mechanism unit so that the device itself is moved to a destination determined by the terminal destination determination device. It further comprises a geo-detection unit that detects the surrounding geographical situation,
The communication status determination unit
In determining the communication status, the mobile terminal device of the destination determination target based on the map information generated based on the geographical status detected by its own device and the geographical status detected by the other mobile terminal device Recognize the geographic situation around
The destination determination unit
The mobile terminal apparatus according to claim 8 , wherein in determining the destination, a geographical situation around the mobile terminal apparatus that is the destination is determined based on the map information. Based on the position of the mobile terminal device that is the destination determination target, the position of the other mobile terminal device, and the geographical situation around the mobile terminal device that is the destination determination destination, A communication status determination step for determining a communication status with the terminal device;
A destination determination step for determining a destination of the destination mobile terminal device based on the geographical situation around the destination mobile terminal device and the communication status determined in the communication status determination step A terminal destination determination method comprising: a destination determination step that does not move other mobile terminal devices included in a certain range starting from the destination mobile terminal device . On the computer,
Based on the position of the mobile terminal device that is the destination determination target, the position of the other mobile terminal device, and the geographical situation around the mobile terminal device that is the destination determination destination, A communication status determination step for determining a communication status with the terminal device;
A destination determination step for determining a destination of the destination mobile terminal device based on the geographical situation around the destination mobile terminal device and the communication status determined in the communication status determination step A program for executing a movement destination determination step that does not move other mobile terminal apparatuses included in a certain range starting from the mobile terminal apparatus targeted for movement destination determination .

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