MOBILE ROBOT, CONTROL METHOD, AND STORAGE MEDIUM

A mobile robot that autonomously travels on a floor on which a carpet is laid is provided with: an acceleration sensor that measures the translational acceleration of the mobile robot; an estimation unit that estimates the tilt of the pile of the carpet on the basis of the translational acceleration measured by the acceleration sensor when the mobile robot accelerates or decelerates; and a travelcontrol unit that controls the travel speed and travel direction of the mobile robot on the basis of the tilt of the pile estimated by the estimation unit. According to this configuration, the mobilerobot can travel on a correct track even on a carpet. 一种在铺设地毯的地板上自主地行进的移动机器人，具备：测量所述移动机器人的平移加速度的加速度传感器；基于在所述移动机器人加速或减速时所述加速度传感器测量到的所述平移加速度，推测所述地毯的绒头的倾斜的推测部；以及，基于所述推测部推测出的所述绒头的倾斜，控制所述移动机器人的行进速度以及行进方向的行进控制部。根据该构成，移动机器人即使在地毯上也能在正确的轨道上行进。