A path generator includes a map generator for generating a map for a movement space based on information on the position and shape of a mobile object, an obstacle, and a target object. It also includes a composite potential generator for calculating an attractive potential and a repulsive potential based on relative positional relationship among the mobile object, the obstacle, and the destination position, and generating a composite potential that is a sum of the attractive potential and the repulsive potential. A local minimum determination unit performs a path search in the map based on the composite potential and determines whether a convergence position of the path search is a local minimum. If it is, a phantom potential generator generates a phantom potential to be added to the potential of the convergence position. If the convergence position is the destination position, a path generator generates a movement path for the mobile object based on the result of the path search.