To provide a self-propelled apparatus capable of determining whether or not it can make an entry under an obstacle arranged with a space on a floor or by detecting an obstacle such as a difference in level.
The self-propelled apparatus includes: a casing; a driving section for making the casing travel and change the direction; a plurality of obstacle sensors for detecting an obstacle on a traveling route; and a control section for controlling the driving section to make the casing travel and change the direction on the basis of the detection of each obstacle sensor. Each obstacle sensor is arranged at a predetermined position of the casing by making the direction and/or position of orientation different within a vertical plane such that a detection range in the vertical direction is made different from that of another obstacle sensor, and the control section controls each obstacle sensor to detect the obstacle in a plurality of directions on a traveling surface, and controls the driving section to make the casing change the direction on the traveling surface, and controls each obstacle sensor to detect the same obstacle for determining the arrangement of the obstacle in the vertical direction.
Shinji Kai
Yusuke Kaneko
Kiyoshi Inamoto
Masami Tomita
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