AUTONOMOUS MOVING DEVICE, CONTROL METHOD, AND AUTONOMOUS MOVING METHOD

摘要

An objective of the present invention is to address a problem of, even in a circumstance of high congestion, allowing smoothly carrying out movement. An autonomous moving device (1) comprises: a moving processing unit (101) which generates a moving plan which is information relating to movement of the autonomous moving device (1) proper; a moving control unit (21) which moves the autonomous movement device (1) proper in accordance with the moving plan which the moving processing unit (101) has generated; a degree of congestion estimation unit (102) which computes a degree of congestion in a direction of movement of the autonomous moving device (1) proper; a visual field estimation unit (103) which, if the degree of congestion immediately in front of the autonomous moving device (1) proper is greater than or equal to a prescribed value, estimates a visual field of a moving obstacle; and an attention arousal control unit(104) which carries out an attention arousal by an attention arousal device (15) so as to enter the estimated visual field.