| 摘要 |
Provided is an autonomous mobile body capable of moving in a pull-off direction that is set by the autonomous mobile body itself so that a movable obstacle can pass through safely, without setting a halt region in advance. An autonomous mobile body (1) comprises a storage unit (22) for storing a size D2 of the autonomous mobile body, a laser range sensor (12) for acquiring obstacle information, an obstacle identification unit (233) for identifying, based on the acquired obstacle information, edge points (86) showing positions of both ends of a region in which an interfering obstacle (66) exists, the both ends being both ends on a plane parallel to a passage plane in a direction which is substantially perpendicular to a moving target direction (72) of the autonomous mobile body, a direction setting unit (237) for setting a pull-off direction based on the size D2 of the autonomous mobile body and the edge points (86), and a mobile control unit (25) for controlling the autonomous mobile body to move toward the pull-off direction. |
