JPH08123547A - Method and device for generating track - Google Patents

Abstract

PURPOSE: To provide the method and device for generating track with which the number of points to be designated in the case of designing the shape of a course while using a spline curve can be irreducibly minimized. CONSTITUTION: Environment map information is read out of a memory, where the environment map information is stored, and the image of that information is displayed on an image display device 21 as an environment map. A start point, end point and passing crossings are instructed from an input device 22 to that environment map and based on those instructed start point, end point and passing crossings, main passing points are prepared. Next, the spline curve passing these main passing points is prepared. Further, the provided spline curve is evaluated and when there is no part protruded from a road, it is adopted as a track but when it is not suitable, the main passing point is added or corrected to generate the spline curve passing that added or corrected point again. This correction is repeated until the satisfactory spline curve is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trajectory generation method and a trajectory generation device. More specifically, the present invention relates to a trajectory generation method and a trajectory generation device used for unmanned operation of a mobile robot.

[0002]

2. Description of the Related Art Conventionally, in order to improve the operating efficiency of an industrial robot, the robot itself has been moved. For example, in an automatic guided vehicle that is a type of robot, the automatic guided vehicle is guided and moved by a guide tape attached to the floor of a factory or an induction cable buried under the floor.

However, such a moving method requires an operation of attaching a tape to the floor of a factory and an operation of burying an induction cable under the floor. In this case, there is a problem that when the layout of the factory is changed, it is necessary to replace the tape or change the guide cable accordingly.

In order to solve the problem caused by the guidance system, it has been proposed and implemented that the mobile robot itself designs the traveling route to move the robot autonomously. There are a global design and a route shape design in the design of the travel route. Here, the global design is to find an optimum route in consideration of the traveling time, the distance, and the degree of danger (a situation where the road surface is bad or the road width is narrow and the vehicle easily collides). In addition,
In this global design, problems such as dynamics when actually controlling the mobile robot are not considered. on the other hand,
The design of the path shape is to design a detailed trajectory for precisely moving the mobile robot. In this path shape design, since it is difficult to generate the optimal path shape at once including dynamics, first create a smooth path to reflect the results of the global design, and then create an error A technique of controlling the moving speed so as to be able to move on the trajectory less is adopted. Conventionally, as a method of designing the path shape, a method using a straight line and a circular arc or a method using a spline curve (“trajectory control of a wheeled mobile robot using a spline curve”, Journal of the Robotics Society of Japan, Vol. 8, No. 2, 1- 1) (See page 11).

However, in the method of designing using a straight line and a circular arc, since the second derivative of the path shape becomes discontinuous, the lateral acceleration and the like of the traveling mobile robot become discontinuous. As a result, a lateral force acts on the moving mobile robot at the discontinuous point, and the mobile robot skids.

On the other hand, in the method of designing using a spline curve, the continuity of the second derivative of the path shape is compensated, but it is necessary to specify many points on the path on which the mobile robot travels. In this case, when traveling on a plane without obstacles or on a plane that does not assume a specific route, the points for setting the route may be specified arbitrarily, so there is no particular problem in specifying those points. .. However, when designing a route using a spline curve in a restricted traffic area such as a road, if a point is arbitrarily specified, the mobile robot will run off the road, so the operator will always spline the curve. There is a problem in that points must be specified while assuming. In addition, when the route is complicated, there is a problem that the number of points to be specified increases dramatically.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the problems of the prior art, and minimizes the number of points to be designated when designing a path shape using a spline curve. It is an object of the present invention to provide a trajectory generation method and a trajectory generation device capable of performing the same.

[0008]

A trajectory generation method according to the present invention includes a procedure for reading environment map information, a procedure for designating a start point, an end point, and a passing intersection, and a main passing point for generating a spline curve. And a step of generating a spline curve that passes through the generated main passage points, a step of evaluating the generated spline curve, and a step of correcting the spline curve as necessary according to the evaluation result. It is characterized by

In the trajectory generating method of the present invention, in the procedure for generating the main passing point, for example, a contact may be set as the main passing point.

Further, in the trajectory generation method of the present invention,
In the procedure of generating the main passing point, for example, the main passing point is added to the traveling direction front side of the previously generated main passing point, or, for example, the generated main passing point is the traveling direction front side or The inside of the spline curve is evaluated such that the area of the line segment connecting the two main passing points and the area surrounded by the generated spline function is the line segment as the base and the road width is high. Is larger than the area of the triangle, and the modification of the spline curve is made by, for example, adding a main passing point at a position distant from the contact point by a distance proportional to the road width, or This is done by adding a main transit point at the middle position of the contact point that is connected to the road at each intersection.

Here, the addition of the main passing point at a position distant from the contact point by a distance proportional to the road width is performed, for example, at an intersection on the front side in the traveling direction of the road area where the track extends.
From the two contact points that are the main passing points at the intersection,
At a position that is separated by a distance proportional to the width of the road, or at a crossing on the front side in the traveling direction of the road area where the track protrudes, a position that is separated by a distance proportional to the road width or the track protrudes from the contact point connected to the road. It is located at a position proportional to the width of the road from the contact point that is connected to the road at each intersection that crosses the road area.

On the other hand, the trajectory generating apparatus of the present invention is a means for storing environment map information, a means for reading environment map information, a means for designating a start point, an end point, and a passing intersection, and a main means for generating a spline curve. Means for generating a passing point,
Means for generating a spline curve passing through the generated main passage points, means for evaluating the generated spline curve,
And a means for modifying the spline curve.

In the trajectory generating apparatus of the present invention, in the means for generating the main passing point, for example, the main passing point is added on the front side in the traveling direction of the previously generated main passing point, or, for example, The generated main passing point is moved to the front side or the inside, and in the means for evaluating the generated spline curve, the evaluation of the spline curve is performed by, for example, a line segment connecting two points of the main passing points. , The area surrounded by the generated spline function is larger than the area of a triangle having a line segment as a base and a road width as a height, and in the means for modifying the spline curve, the modification of the spline curve is performed. , By adding a main passing point at a position distant from the contact point in proportion to the width of the road, or across the road area where the track protrudes. It is done by adding a major passing point at an intermediate position of contact that is connected to the intersection of the road.

Here, the addition of the main passing point at a position distant from the contact point by a distance proportional to the road width is, for example, at the intersection on the front side in the traveling direction of the road area where the track extends, which is the main passing point. Positions distant from the two contact points by a distance proportional to the road width, positions distant from the contact points connected to the road by a distance proportional to the road width at the intersection on the front side in the traveling direction of the road area where the track protrudes, Alternatively, it is located at a position proportional to the width of the road from the contact point that is connected to the road at each intersection that crosses the road area where the track extends.

Further, in the trajectory generating device of the present invention,
The means for designating a start point, an end point and a passing intersection and / or the means for modifying the spline curve are separated from the trajectory generator body provided with the remaining other means. Input and output may be performed wirelessly.

[0016]

For example, environmental map information is stored in the memory of the trajectory generating device, and the device reads the stored environmental map information. A graphic (environment map) corresponding to the read environment map information is displayed on the display unit of the device. In this state, a starting point (starting point), an ending point, and an intersection that must pass through (hereinafter referred to as a passing intersection) are designated. Next, the apparatus generates a main pass point for spline curve generation based on the specified start point and end point and the passing intersection, and then generates a spline curve passing through the generated main pass point. After that, the device evaluates the generated spline curve, that is, checks whether or not there is a portion of the generated spline curve that is out of the road area. Then, when it is determined that there is a portion protruding from the road area by the evaluation,
A new passing point is generated in the vicinity of the main passing point related to the location, and then the spline curve is modified so as to pass through the newly generated passing point. Thereafter, the corrected spline curve is evaluated again, and if there is no portion that protrudes from the road area, it is adopted as a trajectory. If there is any part that goes out of the road area,
A new passing point is generated again, and the generation and evaluation procedure of the spline curve is repeated.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments.

FIG. 1 shows a functional block diagram of a trajectory generation device used in the trajectory generation method of the present invention.
Are environmental map information storage means 1, environmental map information reading means 2, route instructing means 3, and main passage point creating means 4
A spline trajectory generating means 5, a trajectory evaluating means 6,
The main passing point correcting means 7 is a main component.

The environmental map information storage means 1 stores environmental map information such as a figure corresponding to an environmental map (see FIG. 2), the position of an intersection and a road, the degree of connection between an intersection and a road, the width of a road, and a passable area, for example, as data. It is stored in a format. Here, an intersection refers to a common area of two or more passages (see a shaded portion in FIG. 2), and a road refers to a portion connecting intersections. Therefore, the terms “intersection” and “road” used in the present specification have different meanings from the commonly used intersections and roads. The contents of the environmental map information will be described later.

The environmental map information reading means 2 reads the environmental map information stored in the environmental map information storage means 1 and inputs the information to the route instructing means 3 and the main passage point creating means 4. When a plurality of pieces of environmental map information are stored in the environmental map information storage means 1,
Selectively read necessary environmental map information. For such selection, for example, a code number is assigned to the environmental map information,
This can be done by selecting the code number.

The route instruction means 3 can display a graphic (environment map) input from the environment map information reading means 2 on its display portion and can indicate a route on the displayed environment map (see FIG. 3). The reference route is input to the main passing point creating means 4.

The main passing point creating means 4 is a contact point on a designated route, that is, an intersection, based on the starting point, the passing intersection, the ending point inputted from the route indicating means 3 and the environmental map information inputted from the environmental map information reading means 2. And a point indicating a road connection relationship is generated (see FIG. 4).

FIG. 5 is a schematic diagram of the trajectory generator A. In the trajectory generator A shown in FIG. 5,
The environmental map information storage unit 1 is realized by, for example, a RAM, and the route instructing unit 3 is realized by combining an image display device 21 such as a CRT and an input device 22 such as a keyboard, a mouse, and a light pen. Environmental map information reading means 2, major passage point creation means 4,
The spline trajectory generating means 5, the trajectory evaluating means 6, and the main passage point correcting means 7 are realized by storing programs corresponding to the respective functions in the arithmetic processing unit 20. It should be noted that the main passing point correcting means 7 is provided in the image display device 21.
And the input device 22 may be combined. In addition, the route instructing means 3 may be arranged, for example, at a location remote from the main body of the trajectory generating device provided with the remaining means so as to be able to wirelessly communicate with the main body. Further, the main passage point correcting means 7 may be similarly configured. With such a configuration, a route can be instructed and the trajectory can be corrected by the remote control. The device for wireless communication is not particularly limited.

Next, the contents of the environmental map information will be specifically described with reference to the drawings.

The environment map information is expressed in the form of a graphic as shown in FIG. 6, for example, to facilitate understanding. A representation of the environmental map information in a graphic form is referred to as map data. As is clear from FIG. 6, the map data is composed of information on intersections, ie, intersection data, information on roads, ie, road data, and information on contact points, ie, contact data.

This intersection data consists of two pieces of information,
The first information is connection information with another intersection (hereinafter, referred to as first intersection information), and the second information is connection information between contact points in each intersection (hereinafter, referred to as second intersection information) ( (See FIG. 7). The first intersection information simply indicates a connection between the intersections. Therefore, this first intersection information has no directionality. The second intersection information indicates a contact point that can be reached from a certain contact point at the intersection.
Therefore, this second intersection information has directionality. Therefore, one-way traffic or prohibition of traffic can be set based on the second intersection information.

The road data is composed of two pieces of main information and other information. One of the two pieces of main information is connection information with another intersection (hereinafter referred to as first road information). Indicates which intersection is to be connected and which is connected via a contact shared by both ends of the road of interest. Therefore, the first road information has no direction. The other one indicates a contact point that can be reached from the contact point on the road (hereinafter referred to as second road information). Therefore, the second road information has directionality (see FIG. 8). Other information includes road width,
There are directions such as length, horizontal direction or vertical direction.

The contact data is data on an intersection or a point on a road, and indicates a connection relationship between the intersection or the road. For example, if the contact data in the intersection and the contact data in the road are the same, that is, if the coordinates of the contact are the same, it means that the intersection and the road are connected. The contact data is represented in the form of “contact label (x coordinate value, y coordinate value)”, for example. Here, the contact point on the designated route is derived from the designated start point, passing intersection, and end point. That is, if the connection between the intersection and the road is known, the shared contact point is known, and thereby the contact point on the designated route is specified.

FIG. 9 shows an example of environmental map information relating to an intersection having an identification number (intersection number) K10 shown in FIG. As shown in FIG. 9, the intersection K10 is connected to the intersection of the identification numbers K4, K9, K11 and K14, and the identification numbers (contact numbers) are S33 and S4.
5, S46 and S54 are provided.

Environmental map information of the intersection K10 (intersection data) ... K, 010... K, 010; intersection name M, 010; intersection ID name 2000; intersection width 4; Number of contacts in S, 033, 3; contact number, number of contacts to connect to contacts S, 045; contact number to connect S, 054; contact number to connect S, 046; contact number to connect S, 045, 3; contact Number, number of contacts connected to contacts S, 033; number of contacts to connect S, 054; number of contacts to connect S, 046; number of contacts to connect S, 054, 3; number of contacts, number of contacts to connect to contacts S, 045 Contact number S, 033 to be connected; contact number S, 046 to be connected; contact number S, 046,3 to be connected; contact number, number of contacts to be connected to a contact S, 033; contact number S to be connected 054; connecting contact number S, 045; connecting contact number 4; connecting intersection number K, 009; connecting intersection K, 014; connecting intersection K, 011; connecting intersection K, 004; connecting intersection.

It should be noted that, in the above data,; indicates that the following is a comment.

Then, the main passing point is created on the basis of the specified contact points. The main passing point is a coordinate value necessary for generating a spline function (curve), and is represented by, for example, (x coordinate value, y coordinate value).
Then, the generation of the main passing point is based on the contact point on the designated route, such as representing a point at a certain distance from the center of the intersection, a point to be passed at the intersection, a plurality of points of the intersection, and the like. This is done by selecting points, then the width and length of the road data, the width and length of the mobile robot,
The following is performed in consideration of characteristics such as a turning radius. For example, when the vehicle does not run off the road width, as shown in FIG. 10, for example, a main pass point is added before the generated main pass point. Further, when the turning radius and the characteristics are taken into consideration, the main passing point is moved to the front or moved to the inside of the road as shown in FIGS. 11 and 12, for example.

Thereafter, a spline function is created so as to pass through the main passing point. However, in order to simplify the creation of the main passing point, a spline function is usually created with the contact as the main passing point (see FIG. 13). It should be noted that the spline function created here connects the main passage points with a polynomial in which the primary and secondary derivatives match at the main passage points. Therefore, the shape and curvature of the spline curve are determined by the way of determining the main passing point.

Hereinafter, a method of generating a trajectory will be described.

Step 1: A spline function is created by selecting a contact point as a main passing point, and the obtained spline function is adopted as a trajectory (spline trajectory).

Step 2: The adopted trajectory is evaluated. If the evaluation conditions are satisfied, the trajectory generation operation is terminated.

Step 3: A spline function is created by adding or changing a main passing point, and the obtained spline function is adopted as a trajectory, and the process returns to step 2.

Evaluation of the trajectory (1) It is evaluated whether or not there is a portion that runs off the road width in a straight running portion of the road, and if there is a corresponding portion, it is determined that it is inappropriate (see FIG. 14).

(2) A line segment connecting two main passing points,
The evaluation is made based on whether or not the area of the portion surrounded by the generated spline function is larger than the area of the triangle having the line segment as the base and the road width as the height. If the area of the triangle is smaller, it is determined to be inappropriate. For example, let the cubic spline function be y _i (x) = a _i (xx _i ) ³ + b _i (xx _i ) ² + c _i (xx _i ) + d _i , and the main passing points (x _i , y _i ) , (x _{i + 1} , y _{i + 1} ) is represented by ^s y _i (x) = m (xx _i ) + y _i (where m = (y _{i + 1} -y _i ) / (x _{i + 1-}
x _i )) (where i = 0, 1,..., n), and if half of the road width is h _i , the evaluation is performed by the following evaluation function J.

(3) An evaluation is made as to whether all of the generated spline trajectories do not protrude from the road, and if any of the spline trajectories protrudes, it is determined to be inappropriate.

Method of adding main passing point (1) Method of adding at a position distant from the contact point by a distance proportional to the road width For example, as shown in FIG. To the intersection before this), which is the main transit point at that intersection 2
From each of the two contact points, a main passage point is added at a position proportional to the road width, for example, at a distance separated by the road width (addition of two points).

For example, as shown in FIG. 16, a main passage point is added at a position proportional to the road width, for example, at a distance separated by the road width, from the left contact point in the figure of the road area where the track protrudes from the road. Yes (1 point added).

For example, as shown in FIG. 17, a main passage point is added to a distance proportional to the road width, for example, a distance separated from the road width, from a contact point on the left and right sides of the road area where the track protrudes from the road. (2 points added).

(2) A method of adding a portion protruding from the road width to an intermediate position between two contact points (see FIG. 18).

As described above, according to the trajectory generating apparatus of this embodiment, it is possible to generate a trajectory and a spline trajectory with no problem while keeping the number of designated points to a necessary minimum.

The traveling of the mobile robot equipped with such a trajectory generator is performed, for example, as follows.

The control device mounted on the mobile robot is based on an input from a device for detecting rotation in the horizontal direction, for example, an optical fiber gyro, and a device for measuring the traveling distance, for example, an encoder, also mounted on the mobile robot. Then, the current position of the mobile robot is estimated, the estimated position is collated with the spline trajectory to determine the deviation, and the traveling of the mobile robot is controlled so that the deviation becomes zero. By doing so, the mobile robot can move on the generated spline trajectory. Note that the trajectory obtained by the trajectory generating device may be input to the control device of the robot wirelessly, for example, without mounting the trajectory generating device on the robot.
The device for wireless communication is not particularly limited.

Although the present invention has been described based on the embodiments, the present invention is not limited to only the embodiments, and various modifications are possible. For example, in the present embodiment, a spline trajectory for running one mobile robot on the road is generated. However, by appropriately adjusting the road width, a trajectory is generated so that a plurality of vehicles can run while facing each other. Can also.

[0049]

As described above in detail, according to the present invention, there is an excellent effect that a spline trajectory that does not protrude from a traversable area of a road can be generated while minimizing a designated point. can get. Therefore, if the trajectory generating apparatus of the present invention is mounted on a mobile robot, an excellent effect that the unmanned traveling of the mobile robot can be smoothly achieved is obtained.

[Brief description of drawings]

FIG. 1 is a functional block diagram of a trajectory generation device used in a trajectory generation method of the present invention.

FIG. 2 is a diagram showing an example of an environment map.

FIG. 3 is an explanatory diagram showing a state in which a route is instructed on the environment map displayed on the route display means.

FIG. 4 is an explanatory diagram illustrating a state in which a contact point is generated on a designated route by a main passing point creation unit.

FIG. 5 is a schematic diagram of the trajectory generation device shown in FIG.

FIG. 6 is an explanatory diagram of map data.

FIG. 7 is an explanatory diagram of intersection data.

FIG. 8 is an explanatory diagram of road data.

FIG. 9 is an explanatory diagram of intersection data at an intersection K10.

FIG. 10 is an explanatory diagram in the case of correcting a main pass point generated so as not to run off a road width.

FIG. 11 is an explanatory diagram in the case of correcting a main passing point generated in consideration of a turning radius and characteristics.

FIG. 12 is an explanatory diagram of another example of correcting a main pass point generated in consideration of a turning radius and characteristics.

FIG. 13 is an explanatory diagram in a case where a contact is set as a main passage point.

FIG. 14 is an explanatory diagram illustrating a state in which a track protrudes from a road width in a straight running section.

FIG. 15 is an explanatory diagram showing a state in which a main passing point is added at a position distant from the contact point by a distance proportional to the road width.

FIG. 16 is an explanatory diagram of another example of a state in which a main passage point is added to a position separated from the contact point by a distance proportional to the road width.

FIG. 17 is an explanatory diagram of still another example of a state where a main passage point is added at a position separated from the contact point by a distance proportional to the road width.

FIG. 18 is an explanatory diagram showing a state where a main passing point is added to the center of the contact.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Environmental map information storage means 2 Environmental map information reading means 3 Route indication means 4 Major passage point creation means 5 Spline trajectory generation means 6 Trajectory evaluation means 7 Major passage point correction means 20 Arithmetic processing unit 21 Image display device 22 Input device A Trajectory Generator

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Koichi Yoshida 1-1 Kawasaki-cho, Akashi City Kawasaki Heavy Industries Ltd. Akashi Factory (72) Inventor Tsuneyoshi Sawai 1-1, Kawasaki-cho Akashi-shi Kawasaki Heavy Industries Ltd. Akashi Factory

Claims (22)

[Claims] 1. A procedure for reading environmental map information, a procedure for designating a start point, an end point, and a passing intersection, a procedure for generating a main passing point for generating a spline curve, and a spline passing through the generated main passing point. A trajectory generation method comprising: a step of generating a curve; a step of evaluating the generated spline curve; and a step of correcting the spline curve as necessary according to the evaluation result. 2. The trajectory generation method according to claim 1, wherein in the procedure of generating the main passing point, a contact point is set as the main passing point. 3. The trajectory according to claim 1, wherein, in the procedure of generating the main passing point, the main passing point is added on the front side in the traveling direction of the previously generated main passing point. Generation method. 4. The trajectory generation method according to claim 1, wherein in the procedure of generating the main passing point, the generated main passing point is moved to the front side or the inner side in the traveling direction. 5. The evaluation of the spline curve is such that a line segment connecting two main passing points and an area of a portion surrounded by the generated spline function are a triangle having a line segment as a base and a road width as a height. 2. The trajectory generation method according to claim 1, wherein the trajectory generation is performed based on whether the area is larger than the area. 6. The trajectory generation method according to claim 1, wherein the spline curve is modified by adding a main passing point at a position distant from the contact point by a distance proportional to the road width. 7. The method according to claim 1, wherein the addition of the main passage point is performed at an intersection on the front side in the traveling direction of the road area where the track protrudes, away from two junctions that are the main passage points at the intersection at a distance proportional to the road width. 7. The trajectory generation method according to claim 6, wherein the trajectory generation is performed at a shifted position. 8. The addition of the main passage point is performed at a crossing point on the near side in the traveling direction of the road area where the trajectory protrudes, at a position away from a contact point connected to the road by a distance proportional to the road width. 7. The trajectory generation method according to claim 6, wherein: 9. The method according to claim 9, wherein the addition of the main passing point is performed at a position that is a distance proportional to the road width from a contact point connected to a road at each intersection sandwiching the road area where the track protrudes. The trajectory generation method according to claim 6, wherein 10. The modification of the spline curve is performed by adding a main passing point at an intermediate position of a contact point which is connected to a road at each intersection crossing a road area where a track extends. The trajectory generation method according to claim 1. 11. A means for storing environment map information, a means for reading the environment map information, a means for designating a start point, an end point and a passing intersection, and means for generating a main passing point for generating a spline curve. A trajectory generation device comprising: a means for generating a spline curve passing through the generated main passage points; a means for evaluating the generated spline curve; and a means for correcting the spline curve. 12. The track according to claim 11, wherein the means for generating the main passing point is configured to add the main passing point on the front side in the traveling direction of the previously generated main passing point. Generator. 13. The means for generating the main passing point is configured to move the generated main passing point forward or inward in the traveling direction.
The orbit generation device described. 14. The means for evaluating the generated spline curve, wherein the evaluation of the spline curve is such that a line segment connecting two main passing points and an area of a portion surrounded by the generated spline function are: 12. The trajectory generation device according to claim 11, wherein the trajectory generation is performed based on whether or not the area is larger than a triangle having a line segment as a base and a road width as a height. 15. The means for modifying the spline curve is characterized in that the modification of the spline curve is performed by adding a main passing point at a position distant from the contact point by a distance proportional to the road width. The orbit generation device described. 16. The addition of the main passage point is a method in which, at the intersection on the front side in the traveling direction of the road area where the track protrudes, a distance proportional to the width of the road is separated from two junctions that are the main passage points at the intersection. 16. The trajectory generation device according to claim 15, wherein the trajectory generation is performed at a different position. 17. The addition of the main passage point is made at a crossing point on the near side in the traveling direction of the road area where the track protrudes, at a position away from a contact point connected to the road by a distance proportional to the road width. The trajectory generation device according to claim 15, wherein: 18. The method according to claim 18, wherein the addition of the main passage point is performed at a position that is a distance proportional to the road width from a contact point connected to a road at each intersection sandwiching the road area where the track protrudes. The trajectory generation device according to claim 15, wherein 19. The means for correcting a spline curve, wherein the correction of the spline curve includes adding a main passing point at an intermediate position between contact points connected to roads at respective intersections sandwiching a road region where a track protrudes. The trajectory generation device according to claim 11, wherein the trajectory generation is performed. 20. A means for designating a start point, an end point, and a passing intersection and / or a means for modifying the spline curve is separated from a main body of a trajectory generating device including the remaining other means, and the separated means and the trajectory. 12. Input / output to / from the generator main body is performed wirelessly.
The orbit generation device described. 21. A control method for a mobile robot, comprising controlling the mobile robot using a trajectory generated by the method according to claim 1. Description: 22. A mobile robot comprising the trajectory generating device according to any one of claims 11 to 20.