Route generating device
First Claim
1. A route generating device comprising:
- an elevation map memory storing elevation data of subareas which are defined by division of an operations zone of a movable object;
an input unit reading the elevation data from the elevation map memory;
a gradient map creating section calculating gradient data based on the elevation data read from the map memory so as to create a gradient map;
an obstruction region extracting section extracting an inclinational obstruction region on the basis of the gradient map, said inclinational obstruction region having a gradient enough to hinder a movement of the movable object;
a route generating section determining a travelable region on the basis of the inclinational obstruction region for going around obstructions so as to calculate possible traveling routes on the basis of the travelable region for avoiding the obstructions;
a route evaluating section evaluating the traveling routes calculated in the route generating section so as to select an optimum route from a current location of the movable object to a destination; and
an output unit outputting the optimum route selected in the route evaluating section.
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Abstract
A route generating device has an elevation map memory storing elevation data for subareas defined by division of an operations zone. A gradient map creating section calculates gradient data based on the elevation data and creates a gradient map from the gradient data. An obstruction region extracting section extracts an inclination obstruction region based on the gradient map. A traveling route generating section obtains a travelable region based on the inclination obstruction region. All possible traveling routes is calculated based on the travelable region. A route evaluating section evaluates the traveling routes and selects an optimum route from the current position to the destination. The gradient map is created based on the elevation data, it is possible to generate an optimum route without three dimensional obstruct such as a fall, a tumble and any other inability in movement of the movable object.
73 Citations
8 Claims
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1. A route generating device comprising:
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an elevation map memory storing elevation data of subareas which are defined by division of an operations zone of a movable object; an input unit reading the elevation data from the elevation map memory; a gradient map creating section calculating gradient data based on the elevation data read from the map memory so as to create a gradient map; an obstruction region extracting section extracting an inclinational obstruction region on the basis of the gradient map, said inclinational obstruction region having a gradient enough to hinder a movement of the movable object; a route generating section determining a travelable region on the basis of the inclinational obstruction region for going around obstructions so as to calculate possible traveling routes on the basis of the travelable region for avoiding the obstructions; a route evaluating section evaluating the traveling routes calculated in the route generating section so as to select an optimum route from a current location of the movable object to a destination; and an output unit outputting the optimum route selected in the route evaluating section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification