PROBLEM TO BE SOLVED: To enable an optimum route to be searched even when the ambient condition of a mobile entity changes.SOLUTION: A route search device 10 comprises a control unit 14 for executing a route search process based on an A* (A-Star) algorithm, searching for the optimum route of an aircraft 1 moving from a movement start place to a movement target place. The control unit 14 predicts the ambient condition of the aircraft 1 at a plurality of future times of day as viewed from a movement start point of time, determines on the basis of the ambient condition at the predicted future time of day whether the ambient condition at a time of day when the aircraft 1 arrives at a node n+1 being searched has changed from the ambient condition at a time of day when it arrives at a node n nearer to the route than the node n+1, and, when it is determined that the ambient condition has changed, updates the minimum cost estimate value of searched nodes so that it corresponds to the ambient condition at the time of arrival at the node n+1.SELECTED DRAWING: Figure 1

    【課題】移動体の外囲状況が変化した場合であっても最適な経路を探索可能にする。【解決手段】経路探索装置10は、A*(A−Star)アルゴリズムをベースとした経路探索処理を行う制御部14を備え、移動開始地点から移動目標地点まで移動する航空機1の最適経路を探索する。制御部14は、移動開始時点からみて複数の将来時刻における航空機1の外囲状況を予測し、予測された将来時刻における外囲状況に基づいて、航空機1が探索中のノードn+1に到達した時刻における外囲状況が、当該ノードn+1よりも経路手前側のノードnに到達した時刻における外囲状況から変化しているか否かを判定し、この外囲状況が変化していると判定した場合に、ノードn+1到達時刻における外囲状況に対応させるように、探索済みのノードの最小コスト推定値を更新する。【選択図】図1


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    Title :

    ROUTE SEARCH DEVICE, ROUTE SEARCH METHOD, AND ROUTE SEARCH PROGRAM


    Additional title:

    経路探索装置、経路探索方法及び経路探索プログラム


    Contributors:

    Publication date :

    2017-07-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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