JPH0570845B

PURPOSE:To facilitate the easy input and correction of maps and also to form a route quickly by giving an input of the form of an obstacle into a map in the form of a circle or a pattern enclosed by a circle and a segment. CONSTITUTION:A map is supplied by a circle input means 108 and a segment input means 109 and stored in memory means 110 and 111 respectively. Then a route reaching a target position from the present position is planned avoiding obstacles by a route planning means 113 according to the stored map and the target position. This route is stored in a route memory means 114. These stored route, the present position and the target position are superposed on the map and displayed on a graphic display device 117 by a route display means 118 and a position display means 119. This facilitates the easy input and correction of maps and also decide a route quickly.