Abstract: To provide a path planning device and a path planning method capable of, when installed in a moving body such as a robot, exhibiting a natural moving action, and a moving body having such a path planning device installed therein. A path planning device includes a path guide area setting unit that sets a first movement prohibited area for assisting moving path generation on one or both sides of the robot, and a path decision unit that determines a path to a target position such that the robot does not move inside the path guide area. The path guide area setting unit sets the path guide area such that its perimeter passes through the center of that robot.

Abstract: To generate an optimal path in a search space represented by a grid.

Abstract: A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature.