| CPC G05D 1/0289 (2013.01) [B25J 9/1664 (2013.01); G01C 21/34 (2013.01); G05D 1/0088 (2013.01); G05D 1/246 (2024.01); G05D 1/693 (2024.01)] | 10 Claims |
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1. A path planning device comprising:
an input device comprising at least one of a keyboard or a mouse:
a transceiver;
a display; and
control circuitry that:
controls the display to display a predetermined environment that includes plural predetermined moving body paths that connect predetermined plural moving body stopping positions;
accepts an input of data from the input device, the data to be used in path planning in the predetermined environment, with respect to all of multiple moving bodies present in the predetermined environment that are to be subjected to the path planning, the multiple moving bodies including at least one first moving body having a respective first moving body goal and at least one second goal-less moving body;
based on the data from the input device, plans a behavior of all of the multiple moving bodies, the behavior comprising one or more movements of each of the multiple moving bodies between selected ones of the predetermined plural moving body stopping positions along corresponding ones of the plural predetermined moving body paths, the behavior being a behavior until a time at which the at least one first moving body has reached the respective first moving body goal;
controls the display to display the planned behavior on the predetermined environment; and
controls the transceiver to transmit the planned behavior to the multiple moving bodies for execution by the multiple moving bodies,
wherein the at least one first moving body comprises multiple first moving bodies, and the behavior is a behavior of all of the multiple moving bodies from an earliest respective first moving body start time until a time at which all of the multiple first moving bodies are to have reached their respective moving body goals,
wherein the behavior is a behavior, of a plurality of possible behaviors, that makes earliest the time at which all of the multiple first moving bodies have reached their respective moving body goals,
wherein, in a case where a part of the multiple first moving bodies has reached their respective moving body goals before a time at which all of the multiple first bodies have reached their respective moving body goals, the control circuitry plans a respective post-goal behavior of each of the first moving bodies of the part of the multiple first moving bodies, the respective post-goal behavior of each of the first moving bodies of the part of the multiple first moving bodies being a movement to a temporary moving body goal and lasting until a time when all remaining first moving bodies of the multiple first moving bodies have reached their respective first body goals, and
wherein the respective post-goal behavior of each of the first moving bodies of the part of the multiple first moving bodies further comprises a movement back to their respective moving body goals after the time at which all of the remaining multiple first bodies have reached their respective moving body goals.
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