| CPC G05D 1/0212 (2013.01) | 6 Claims |
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1. A mobile robot comprising:
a drive unit that changes a moving speed and a travel direction;
a detection unit that detects a plurality of detection target objects arranged along a movement route to a target point; and
a control unit that acquires a distance and a direction to the detection target object detected by the detection unit, calculates a travel direction in which the distance and the direction to the detection target object satisfy a predetermined relationship, and drives and controls the drive unit on the basis of the calculated travel direction, wherein
the mobile robot is used under a setting environment in which a boundary is set in the movement route at least on either a left or right side with respect to the travel direction of the mobile robot, the plurality of detection target objects are arranged along the boundary forming the movement route, and a target route is set at a position away from the boundary by a certain distance to cause the mobile robot to move while maintaining the certain distance from the boundary, and
the control unit is configured to calculate a distance in a direction orthogonal to the movement route between the detection target object arranged along the boundary and a current position of the mobile robot on the basis of the distance and the direction to the detection target object detected by the detection unit at least when the mobile robot tries to start moving along the target route toward the target point, calculate a difference between the distance and the certain distance, and execute drive control for the drive unit to cause the difference to be 0 (zero).
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