| CPC G05D 1/0212 (2013.01) [G05D 1/0246 (2013.01); G05D 1/0274 (2013.01); G05D 1/0278 (2013.01)] | 14 Claims |
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1. An autonomous mobile body control device comprising:
one or more processors that execute computer-executable instructions stored in memory,
wherein the one or more processors execute the computer-executable instructions to cause the autonomous mobile body control device to:
acquire position information indicating a position of an autonomous mobile body using a satellite positioning system;
acquire an acquired image which is an image acquired by a camera provided in the autonomous mobile body; and
execute a first movement control that controls movement of the autonomous mobile body on a basis of main map information including a main map, and a second movement control that controls the movement of the autonomous mobile body on a basis of local map information including a local map; and
temporarily execute a third movement control that controls the movement of the autonomous mobile body on a basis of a landmark appearing in the acquired image
in a case that a map used when causing the autonomous mobile body to move is switched from the main map to the local map, or alternatively, in a case that the map used when causing the autonomous mobile body to move is switched from the local map to the main map,
wherein a frequency at which a control based on the acquired image is performed in the second movement control is higher than a frequency at which the control based on the acquired image is performed in the first movement control.
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