| 摘要 |
PROBLEM TO BE SOLVED: To control an autonomous mobile body to faithfully travel an instructed travel route without taking useless avoidance behavior.SOLUTION: A movement control device 2 for an autonomous mobile body 100 including a movement part 1 and a detection part and moving to reproduce a scheduled travel route includes an arithmetic unit 241, a determination unit 243, and a movement control unit 245. The arithmetic unit 241 computes an anticipated travel track T on the basis of a current position of the autonomous mobile body 100, travel route information Trepresenting a travel route from the current position to a future position as a position traveling a prescribed distance therefrom, and an autonomous mobile body area A having a prescribed shape including the autonomous mobile body 100. The determination unit 243 determines whether an obstacle S detected by the detection part 3 and the anticipated travel track T are mutually interfered or not. When the determination unit 243 determines that the obstacle S and the anticipated travel track T are not interfered, the movement control unit 245 creates a movement instruction for controlling the movement part 1 so as to reproduce the anticipated travel track T computed by the arithmetic unit 241. |
