| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method for an autonomous moving device in which workload for management is small even in a multistory building having a downward staircase.SOLUTION: An autonomous moving device includes: an environment information acquisition part 13; a temporary destination generation part 18 for re-generating, when it is determined that it cannot arrive at a moving waypoint because of an obstacle acquired by the environment acquisition part, a temporary destination to an obstacle avoidance point SP, which is a position for avoiding the obstacle; and a recess detection part 17 for detecting a recess on a road surface from a distance in a direction in which surroundings acquired by the environment information acquisition part 13 is looked down from an upper portion of a vehicle; wherein the recess detection part 17 stops running of a driving part 16 when a recess 41 is detected in a stop area 22a; and generates, when a recess 41 is detected in avoidance areas 22b positioned at both sides of the stop area 22a, a virtual obstacle X on a side where the recess 41 is detected. |
