AUTONOMOUS TRAVEL BODY, NARROW PATH DETERMINATION METHOD AND NARROW PATH DETERMINATION PROGRAM OF AUTONOMOUS TRAVEL BODY, AND COMPUTER-READABLE RECORD MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide an autonomous travel robot capable of safely travelling a path, and to provide a narrow path determination method capable of precisely determining a narrow path for the autonomous travel body.SOLUTION: A robot (autonomous travel body) 1 has a narrow path determination section 26 that determines whether, in wall distance vectors in which a reference distance is added to vectors extending from a reference position to ambient points in a circumstance map, the sum of absolute values of X axial direction composites of a right composite wall distance vector and a left composite wall distance vector, in which X axial direction composites in an identical direction are composed, exceeds a first threshold level.SELECTED DRAWING: Figure 1