Route determination system, mobile object, and recording medium

Abstract

A route determination system includes: an initial route line setting section that sets an initial route line including a plurality of split points between a starting point and a destination and connecting the first and second waypoints; and a movement route determination section that generates a candidate route line starting from the first waypoint and reaching the second waypoint by setting a predetermined number of control points at arbitrary positions within a specific range on the map, and that when all split points of the candidate route line are positioned within the passable area, determines, as a movement route for a mobile object, a route in a real space corresponding to the candidate route line, and when at least one of the split points of the candidate route line is positioned within an impassable area, increases the number of control points and performs the curving processing again.