To provide a route planning device for planning an optimum route according to an actual tidal current.SOLUTION: A route planning device comprises: a predicted route calculation unit which calculates a predicted route when a moving object moves from each position in a planned navigation area to a destination, and calculates a predicted cost when the moving object travels each predicted route based on a tidal current; a local route calculation unit which calculates a plurality of local routes indicating routes when the moving object moves from a navigation position to a periphery of a local area centered on the navigation position set in the planned navigation area, and calculates a local cost when the moving object moves on each local route based on an estimated value of the tidal current; and a route selection unit which selects a local route that minimizes a sum of the local cost and the predicted cost corresponding to the predicted route from a position closest to the end of the local route corresponding to the local cost to the destination.SELECTED DRAWING: Figure 1
【課題】実際の潮流に応じて最適な経路を計画する経路計画装置を提供する。【解決手段】経路計画装置は、移動体の航行予定領域の各位置から目的地まで移動するときの予想経路を算出し、各々の予想経路を移動したときの予想コストを潮流の予測値に基づいて算出する予想経路算出部と、移動体の航行位置から、航行予定領域に設定された航行位置を中心とする局所領域の周縁部まで移動するときの経路を示す局所経路を複数算出し、各々の局所経路を移動したときの局所コストを潮流の推定値に基づいて算出する局所経路算出部と、局所コストと局所コストに対応する前記局所経路の終端部に最も近い位置から目的地までの予想経路に対応する予想コストとの合計が最小となる局所経路を選択する経路選択部と、を備える。【選択図】図1
ROUTE PLANNING DEVICE, MOVING OBJECT, ROUTE PLANNING METHOD AND PROGRAM
経路計画装置、移動体、経路計画方法及びプログラム
2022-08-24
Patent
Electronic Resource
Japanese
ROUTE PLANNING DEVICE, ROUTE PLANNING METHOD, AND PROGRAM
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