AUTONOMOUS TRAVEL VEHICLE

摘要

PROBLEM TO BE SOLVED: To allow an autonomous travel vehicle to change the direction to avoid a step on a floor surface through simple operation when detecting the step during a travel by a wall. SOLUTION: When a floor surface sensor 3 detects the step on the floor surface and judges that the step should be avoided from reference distance information that is stored in a step judgment information storage part 312 for judging a projection step and a recessed step, a control part 32 reverses travel motors 8a and 8b by the amount of rotation which is stored in a backward rotation information storage part 313 and which is needed to move a robot cleaner by a specific distance in the direction reverse to the traveling direction and then makes the travel motors rotate the robot cleaner by 90 deg., thereby changing the direction.