| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous mobile body realized in a general environment where there are a plurality of geometric characteristics (convexoconcave and the like) and in an environment where a uniform pattern environment poor in geometric characteristics is mixed.SOLUTION: An autonomous mobile body 10 includes: a general travel mode in which the autonomous mobile body travels while estimating a current position and posture by matching map data 18 with geometric shape data 34, such as segments 95a and 95c; and a travel-along-wall mode in which the autonomous mobile body travels so as not to come in contact with an obstacle when the geometric shape data 34 continuously become the same shape, such as a segment 95b, and the current position and posture cannot be estimated by the map matching with the matching map data 18. |
