To provide an autonomous traveling device that allows more reliable optimal control as a realization of user know-how applied to device control.
The autonomous traveling device includes a state diagram storage means 22 for storing the state of a device as a state diagram; a plurality of sensors 10, 13, 19 for detecting the state of the device; a self-organizing map calculation means 21 for outputting the sensor values of the sensors as map calculation results so that the sensor values can be projected onto the state diagram in the state diagram storage means 22; and a state diagram control means 23 for determining a device control signal based on the map calculation results provided by the self-organizing map calculation means 21 and the state diagram stored in the state diagram storage means 22. In this way, the state of the device is grasped based on the positional relationship between the map calculation results and the state diagram and the device control signal is determined based on this information, whereby more reliable optimal control is made possible as a realization of user know-how applied to device control.
NAKATANI TADASHI
EGUCHI OSAMU
NAKAYAMA ATSUSHI
Tomoyasu Sakaguchi
Hiroki Naito
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