AUTONOMOUS MOVING OBJECT AND CONTROL METHOD

摘要

To enable stable collision avoidance operation without the need to install an infrastructure or the like even in a dangerous area where running out is likely to occur An autonomous moving body according to the present invention includes: a distance measuring sensor (16) that measures a distance to an object existing in an environment: a distance information acquisition unit (21) that acquires a distance measurement value of the distance measuring sensor (16) as distance information on a measurement point; and a dangerous area extraction unit (22) that categorizes adjacent measurement points as an identical objects according to a distance difference between the measurement points, and extracts an endpoint of the object as a dangerous area when the categorized object itself has a size equal to or larger than a predetermined threshold and when an opening formed between endpoints of the objects has a width equal to or larger than a predetermined threshold, in which the autonomous moving body travels so as to avoid a collision in the extracted dangerous area