Patent ID: 8924068

Claim:
An autonomous mobile body which autonomously moves along a planned path, the autonomous mobile body comprising: a storage unit arranged to store a size of the autonomous mobile body; an obstacle information acquisition unit arranged to acquire obstacle information of obstacles around the autonomous mobile body; an obstacle identification unit arranged to identify, based on the obstacle information acquired by the obstacle information acquisition unit, positions of both ends of a region in which an obstacle positioned in a moving target direction exists, the both ends being both ends on a plane parallel or substantially parallel to a passage plane in a direction which is perpendicular or substantially perpendicular to the moving target direction; a direction setting unit arranged to set a pull-off direction based on the size of the autonomous mobile body stored in the storage unit and the positions of the both ends identified by the obstacle identification unit; a mobile controller arranged and programmed to control the autonomous mobile body to move in the pull-off direction set by the direction setting unit; and a stop position setting unit arranged to set a stop position in the pull-off direction based on a pull-off direction set by the direction setting unit, and an environmental map, wherein the mobile controller controls the autonomous mobile body to move to and stop at the stop position set by the stop position setting unit.