Path planning before direction, path planning method and the moving body

摘要

Path planning before direction witha movement preventing region of the adjusting unit, which is of a first movement to impaired area to support a movement path generation on one or both sides of a moving body is established, anda web, a decision unit, which is a path of movement to a destination position determined in such a way that the moving body is not within the first movement moves impaired region,the movement preventing region of the adjusting unit the first movement to impaired region in such a manner that the path of movement by means of a center of the moving body runs.