MOVEMENT CONTROL METHOD OF MOBILE BODY

To provide a movement control method of a mobile body, capable of controlling the mobile body so that a portion on one straight path side in a movement area for the mobile body moved along the other straight path overlaps a portion on the other straight path side in the movement area for the mobile body moved along one straight path.SOLUTION: A movement control method of a mobile body includes movement schedule information set processing and movement control processing. The movement control processing is processing of moving the mobile body along a movement schedule path in which turning-back of a straight path based on movement schedule information is repeated on a movement object surface. In moving the mobile body along one straight path and the other straight path adjacent to each other, movement of the mobile body is controlled so that a portion on one straight path side in a movement area for the mobile body moved along the other straight path overlaps a portion on the other straight path side in the movement area for the mobile body moved along one straight path with a width equal to or greater than a preset overlapping set width.SELECTED DRAWING: Figure 1 【課題】一方の直線経路を辿って移動させる移動体の移動領域における他方の直線経路側の部分と他方の直線経路を辿って移動させる移動体の移動領域における一方の直線経路側の部分とが重なるように移動体を制御する移動体の移動制御方法を提供する。【解決手段】本発明に係る移動体の移動制御方法は、移動予定情報設定処理と移動制御処理とを備え、移動制御処理は、移動対象面上において移動予定情報に基づく直線経路の折り返しが繰り返される移動予定経路を辿って移動体を移動させる処理であり、互いに隣り合う一方の直線経路及び他方の直線経路を辿って移動体を移動させる際において、一方の直線経路を辿って移動させる移動体の移動領域における他方の直線経路側の部分と他方の直線経路を辿って移動させる移動体の移動領域における一方の直線経路側の部分とが、予め設定されたオーバーラップ設定幅以上の幅で重なるように、移動体の移動を制御した。【選択図】図１