| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous mobile device capable of performing smooth moving in a path irrespective of position of a node or configuration of the path or a route.SOLUTION: The autonomous mobile device includes: a vehicle 12; a moving section 13 for moving the vehicle 12; an own position acquisition section 14 that acquires own position of the vehicle 12; a storage 15 storing the position of the node, size of the arrival determination area enclosing the node and a piece of map information; a route generation section 16 that generates a route from the own position to a destination by connecting nodes; and a movement control section 17 that, when arriving at an arrival determination area enclosing a node as a current passing target point, controls to change the node to the next node as the current passing target point and to move to the next node. Each arrival determination area has a different size according to an angle between straight-line links which is formed by linking a node enclosed by the arrival determination as the center and a first node and a second node which are neighboring on the route. |
