Moving object and route decision method of moving object

A route decision method of a moving object that travels from a current position toward a target position, the route decision method comprising:

• searching for a plurality of first section candidates in which the moving object is capable of traveling from the current position within a first set time period set in advance;
• searching, for each ending point of the first section candidates, for a plurality of second section candidates in which the moving object is capable of traveling from the ending points of the first section candidates within a second set time period set in advance;
• recognizing a target direction that is a direction in which the target position is present;
• detecting a position of an obstacle around the moving object;
• determining an evaluation value for each of the first section candidates and each of the second section candidates based on a closest distance to the obstacle, a rotational speed of the moving object, and an effective distance in the target direction;
• deciding a first section and a second section used as a traveling route of the moving object from the plurality of first section candidates and the plurality of second section candidates having a highest evaluation value;
• calculating a driving amount for the traveling of the moving object from the decided route;
• and
• performing traveling control of the moving object along the route by transmitting a control signal to control traveling of the moving object.