| 摘要 |
PROBLEM TO BE SOLVED: To provide a movable body guiding device capable of making a movable body appropriately perform autonomous travel.SOLUTION: The movable body guiding device includes: a shape information acquisition part for acquiring shape information showing the shape of a structure existing around a movable body 1 performing autonomous travel to a destination by wheels 2; a movable body information acquisition part for acquiring movable body information including the present position and a moving direction of the movable body 1 on the basis of a rotational angle of the wheels 2 of the movable body 1 during autonomous travel; an environment map creation part for creating an environment map showing environment around the movable body 1 on the basis of the shape information and the movable body information; a structure information acquisition part for acquiring structure information showing the real position and shape of a structure included in the environment map; a deviation amount calculation part for calculating a deviation amount of the structure on the environment map to the real structure on the basis of the environment map and the structure information; an error specification part for specifying an error included in the movable body information on the basis of the deviation amount; and a moving direction determination part for determining a moving direction on the basis of the error. |
