Path calculation method and moving body system

Abstract

The mobile body system comprises a plurality of mobile bodies (20), a mobile area (30) having a plurality of nodes (31) and a plurality of lines (32), and a control device. The method for calculating the path of the mobile body (20) in the mobile body system comprises a determination step, a setting step, a calculation step, and a release step. In the determination step, it is determined whether the mobile body (20) intending to move from the first node (31A) to the first direction (D1) can move in the first direction (D1). In the setting step, if it is determined that the mobile body (20) cannot move in the first direction (D1), a prohibition is set for all the plurality of mobile bodies (20) on the path from the first node (31A) to the first direction (D1). In the calculation step, the movement path of the plurality of mobile bodies (20) in the mobile area (30) is calculated based on the prohibition setting. In the lifting step, the prohibition is lifted at the point when the first time elapsed since the prohibition was set.

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