1. A target route generation system configured to generate a target route for a robot to travel along autonomously, comprising: a link storing element configured to store travelable links in a travel region for the robot; an action point storing element configured to store an action point between the robot and an external environment thereof in any of the links stored in the link storing element; a starting point recognition element configured to recognize a present position or departure position of the robot in the travel region as a starting point; a terminating point recognition element configured to recognize a destination position of the robot specified by a user in the travel region via an input device as a terminating point; a route candidate generation element configured to generate a plurality of travel route candidates which join the terminating point recognized by the terminating point recognition element and the starting point recognized by the starting point recognition element by way of joining the links stored in the link storing element; a state recognition element configured to recognize a state of the robot; and a route evaluation element configured to evaluate lower a cost of a travel route candidate including therein an action point stored in the action point storing element among the plurality of travel route candidates generated by the route candidate generation element as the necessity for passing by the action point increases in view of the state of the robot recognized by the state recognition elements, or to evaluate the cost thereof higher as the necessity decreases; the travel route candidate with the lowest total cost evaluated by the route evaluation element is generated as the target route.