Patent ID: 8255107

Claim:
A traveling control method of controlling an autonomous navigation machine having at least first and second receivers that receive a radio signal transmitted from a transmitter disposed at a specific position in a traveling area, the method comprising: receiving the radio signal with at least one of the first and second receivers both configured to receive the radio signal; recognizing a command included in the received radio signal; and acquiring data indicating a size of a recognizable area corresponding to the radio signal and a position of the transmitter while the autonomous navigation machine moves along a border of the recognizable area, wherein the autonomous navigation machine travels along the border of the recognizable area according to a traveling mode and a turning angle that are determined based on a determination of whether the first receiver receives the radio signal and whether the second receiver receives the radio signal, such that when the radio signal is received the traveling mode and the turning angle are determined based on whether the radio signal is received by both of the first and second receivers or received by only one of the first and second receivers.