| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device, travelling device, control method and program that allow a distance between reciprocally travelling sections to be close to a target value.SOLUTION: A control device of the present invention is the control device that controls a travelling device autonomously travelling in a closed area, and the control device comprises: turning control means; and center-of-gravity position control means. The turning control means is configured to control to cause the travelling device to make an ultra-pivotal brake turn. The center-of-gravity position control means is configured to cause a center-of-gravity position of the travelling device to be changed in the middle of changing an advancing direction of the travelling device by 180 degrees by the control of the turning control means.SELECTED DRAWING: Figure 4 |
