Autonomous running device, running control method for autonomous running device, and running control program of autonomous running device

A running control method for an autonomous running device that autonomously runs in a certain area, the running control method comprising:

• a step of producing a route from a position of the autonomous running device in the certain area to a target point;
• a step of estimating a position of the autonomous running device on the basis of information about surroundings of the autonomous running device, producing information about the estimated position of the autonomous running device as first positional information, and overriding the first positional information stored in a storage with the produced first positional information;
• a step of estimating a position of the autonomous running device using, as an initial position, the first positional information stored in the storage, on the basis of rotation amounts of wheels provided to a runner that moves the autonomous running device, when the first positional information is not produced, and producing information about the estimated position of the autonomous running device as second positional information;
• and
• a step of producing a track of the autonomous running device along the route, performing real time computing processing such that the autonomous running device autonomously moves on the track, and performing the autonomous movement control on the basis of the second positional information.

A non-transitory computer readable recording medium storing therein a running control program of an autonomous running device that autonomously runs in a certain area, the running control program causing a computer to execute processing for:

• producing a route from a position of the autonomous running device in the certain area to a target point;
• estimating a position of the autonomous running device on the basis of information about surroundings of the autonomous running device, producing information about the estimated position of the autonomous running device as first positional information, and overriding the first positional information stored in the storage with the produced first positional information;
• estimating a position of the autonomous running device using, as an initial position, the first positional information stored in the storage, on the basis of rotation amounts of wheels provided to a runner that moves the autonomous running device, when the first positional information is not produced, and producing information about the estimated position of the autonomous running device as second positional information;
• and
• producing a track of the autonomous running device along the route, performing real time computing processing such that the autonomous running device autonomously moves on the track, and performing the autonomous movement control on the basis of the second positional information.