Mobile body, control method for mobile body, recording medium, and mobile body control system

The present invention provides a moving object capable of more appropriately reducing the influence of noise when generating a lattice-like map representing the position of an object on the basis of three-dimensional point cloud data. The moving body is provided with: an acquisition means for acquiring three-dimensional point cloud data around the moving body; and a generation means for generating a lattice map on the basis of the three-dimensional point cloud data, the generation means associating the point cloud of the three-dimensional point cloud data with lattices on a horizontal plane parallel to the road surface on which the moving body travels, and generating a lattice map indicating whether or not there is a three-dimensional structure having a height or a difference in height that is equal to or greater than a predetermined value in each lattice. The generation means determines, for each lattice in the lattice map, whether or not there is a stereo on the basis of a point density when a point cloud c