Autonomous moving system, autonomous moving method, and storage medium

An autonomous moving method for an autonomous moving body that moves autonomously, the autonomous moving method comprising:

• setting a predetermined defense space around the autonomous moving body, for executing collision control of at least one of control to avoid a collision between the autonomous moving body and an obstruction and control to mitigate damage upon a collision by setting a size and a shape of the predetermined defense space in accordance with a facility in which the autonomous moving body is used, a size and movement performance of the autonomous moving body, and a detection range of a sensor and a camera installed on the autonomous moving body;
• based on information from the sensor and camera, detecting an obstruction in a vicinity of the autonomous moving body;
• classifying the obstruction that is detected;
• in a case where the obstruction is within the predetermined defense space, changing the size and the shape of the predetermined by excluding the obstruction from the predetermined defense space based on the classified obstruction by masking a portion of the predetermined defense space that corresponds to the obstruction;
• in response to the changing of the size and the shape of the predetermined defense space, cause the autonomous moving body to be released from stopping and to move;
• and
• executing control of movement of the autonomous moving body including the collision control when at least one of the obstruction is inside the defense space and when the obstruction is predicted to enter inside the defense space.

A non-transitory storage medium storing instructions that are executable by one or more processors and that cause the one or more processors to perform functions comprising:

• setting a predetermined defense space around an autonomous moving body, for executing collision control of at least one of control to avoid a collision between the autonomous moving body and an obstruction and control to mitigate damage upon a collision by setting a size and a shape of the predetermined defense space in accordance with a facility in which the autonomous moving body is used, a size and movement performance of the autonomous moving body, and a detection range of a sensor and a camera installed on the autonomous moving body;
• based on information from the sensor and camera, detecting an obstruction in a vicinity of the autonomous moving body;
• classifying the obstruction that is detected;
• in a case where the obstruction is within the predetermined defense space, changing the size and the shape of the predetermined by excluding the obstruction from the predetermined defense space based on the classified obstruction by masking a portion of the predetermined defense space that corresponds to the obstruction;
• in response to the changing of the size and the shape of the predetermined defense space, cause the autonomous moving body to be released from stopping and to move;
• and
• executing control of movement of the autonomous moving body including the collision control when at least one of the obstruction is inside the defense space and when the obstruction is predicted to enter inside the defense space.