| 摘要 |
PROBLEM TO BE SOLVED: To substantially uniformly travel a self-propelled robot within a predetermined area. SOLUTION: A CPU 171 functionally comprises a detection part 171a detecting a separated distance that is the distance between a main body part 10 and a wall surface (or obstacle); a wall-along traveling part 171b traveling the robot in a wall-along mode (corresponding to a first mode) that is a control mode for traveling along the wall surface (or obstacle); a random traveling part 171c for traveling the robot in a random mode that is a control mode for traveling while repeating direct advance and rotation within a room; and a switching part 171e performing switching between the wall-along mode and the random mode. The switching part 171e switches the random mode to the wall-along mode when the traveling time of three times of direct advance satisfies a predetermined condition. COPYRIGHT: (C)2007,JPO&INPIT
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