Control device for mobile body

A control device for a mobile body which moves in accordance with a maneuvering operation by an operator, the device comprising:

• a basic movement command generation unit configured to generate a basic movement command which is a movement command for the mobile body based on the maneuvering operation by the operator;
• a movement command correction unit configured to correct the basic movement command according to a positional relationship between the mobile body and an obstacle present or set up in a moving environment of the mobile body;
• and
• a movement control unit configured to perform movement control of the mobile body according to a corrected movement command which is the basic movement command corrected;
• wherein
• the movement command correction unit is configured to correct the basic movement command, in a case where a distance between the obstacle and the mobile body has become a first predetermined value or less, so as to restrict a moving velocity of a representative point of the mobile body to a moving velocity having an absolute value smaller than a basic moving velocity which is a moving velocity defined according to the basic movement command, and configured to correct the basic movement command so as to cause a rate of increase in degree of restriction of the moving velocity with respect to a decrease of the distance, is increased as the distance is closer to the first predetermined value.