| 摘要 |
An object of the present invention is to provide a self-propelled apparatus that can conduct efficient performance by avoiding an obstacle in a more suitable manner. Concerning the self-propelled apparatus, rotation direction determination section determines rotation direction randomly, when obstacle that exists in a direction that is substantially the same with traveling direction of the self-propelled apparatus is detected, determines rotation direction to a clockwise direction, when obstacle that exists in left side with respect to traveling direction line that runs through center point of the self-propelled apparatus is detected, and determines rotation direction to an anti-clockwise direction, when obstacle that exists in right side with respect to traveling direction line that runs through center point of the self-propelled apparatus is detected. Rotation angle of the self-propelled apparatus is determined by the rotation angle determination section.
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