Patent ID: 11874123
Assignee: NEC CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 3:
4. A route planning method comprising:
performing, by a processor, search for a first route towards a target site from an initial position of a mobile object using A* (A-star) or CBS (Conflict-Based Search) as an optimization algorithm such that a current position of the mobile object is updated a plurality of first times until a predetermined condition has been satisfied; and
performing, by the processor, search for a second route to the target site from the current position of the mobile object at an end of the first route using CA* (Cooperative A-star) as a polynomial algorithm such that the current position of the mobile object is updated a plurality of second times by, for each of the plurality of second times:
calculating a cost associated with each of a plurality of possible transitions from the current position of the mobile object;
selecting one of the possible transitions based on the cost associated with each of the plurality of possible transitions that has been calculated; and
advancing the current position of the mobile using the selected one of the possible transitions.