Movable marking system, controlling method for movable marking apparatus, and computer readable recording medium

A movable working system comprising a movable working apparatus, the movable working system comprising:

• a driving unit, which supplies power to the movable working apparatus and moves the movable working apparatus;
• a sensing unit, which senses a space;
• a sensing condition setting unit, which sets a movement path along which the movable working apparatus moves;
• and
• a position detecting unit, which detects a position of the movable working apparatus by comparing sensing data obtained through the sensing unit with a map data,
• wherein the map data is generated from a drawing corresponding to the space or from a former sensing process, and
• wherein the sensing unit includes a camera sensor to capture an image of a floor surface when the floor surface is in the space, wherein the image includes a state and texture of the floor surface, and wherein the movement path is set or corrected in accordance with the state and texture of the floor surface.