Patent ID: 8897947

Claim:
An autonomous mobile device, comprising: an obstacle sensor that acquires peripheral obstacle information; a storage device that stores an environment map showing an obstacle zone where an obstacle exists, and a no-entry zone map showing a no-entry zone into which entry is prohibited; an estimation device that estimates a self-location of the mobile device by using obstacle information acquired by the obstacle sensor and the environment map; a synthesizing device that generates a composite map by synthesizing the environment map and the no-entry zone map; a calculation device that calculates avoidance information based on the obstacle zone and the no-entry zone by using the self-location estimated by the estimation device and the composite map generated by the synthesizing device; and a controller arranged and programmed to control autonomous movement based on the self-location estimated by the estimation device, the environment map, and the no-entry zone map; wherein the controller is arranged and programmed to control the autonomous mobile device to not enter the no-entry zone even if the peripheral obstacle information indicates that no obstacle exists in the no-entry zone; the estimation device estimates the self-location of the mobile device without using the no-entry zone map; and the controller performs control to avoid the obstacle by using the avoidance information calculated by the calculation device and the obstacle information acquired by the obstacle sensor.