Self-propelled mobile body, determination program, and determination method

The invention relates to a self-propelled mobile body, and a determination program and a determination method for determining the movement state of the self-propelled mobile body. An autonomous traveling cleaner, which is an example of a self-propelled moving body, is provided with: a drive unit that drives the autonomous traveling cleaner in order to move the autonomous traveling cleaner; a sensor for detecting a surrounding condition; and a control unit that drives the drive unit in accordance with the surrounding situation detected by the sensor. The control unit includes a travel abnormality determination unit (73) that determines the movement situation by the drive unit by comparing the situation in the same direction detected by the sensor at two or more different timings during the movement process. As a result, a technique for determining the movement state of the self-propelled moving body can be improved. 本发明涉及自走式移动体、用于判断自走式移动体的移动状况的判断程序和判断方法。作为自走式移动体的一个例子的自主行走型吸尘器具备：驱动部，为了使该自主行走型吸尘器移动而将该驱动部驱动；传感器，其