| 摘要 |
An autonomous moving apparatus arranged to travel autonomously in a surrounding environment preferably includes: a distance measuring sensor arranged to output detection waves, detect a distance between the apparatus and an object which has reflected the detection wave based on a reflection state of the detection wave, and acquire information about the distance between the apparatus and the object which exists in the surroundings of the apparatus; an inclination sensor arranged to detect an inclination of the distance measuring sensor; and a control unit arranged to estimate the self-position in the surrounding environment and generate the global map of the surrounding environment based on the distance information. When the distance measuring sensor is determined to be inclined based on a detection result of the inclination sensor, the control unit stops estimating the self-position based on the distance information and stops generating the global map based on the distance information.
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