AUTONOMOUS MOBILE ROBOT

To provide an autonomous mobile robot for pulling and transporting an object to be transported, which prevents interference between the object to be transported and the surrounding environment at the time of turning and enables passage in a narrow place.SOLUTION: An autonomous mobile robot 10 according to an embodiment pulls and transports an object to be transported 20. The autonomous mobile robot 10 includes: a physical quantity management unit for determining the position of the center of gravity of an entire transport system including the autonomous mobile robot 10 and the object to be transported 20; and a movement control unit that performs path following control by setting the point to follow the path as the center of gravity position.SELECTED DRAWING: Figure 1 【課題】旋回時の被搬送物と周辺環境との干渉を防止するとともに、狭い場所の通行を可能とする、被搬送物を牽引して搬送する自律移動ロボットを提供する。【解決手段】実施形態に係る自律移動ロボット１０は、被搬送物２０を牽引して搬送する。自律移動ロボット１０は、当該自律移動ロボット１０と被搬送物２０とを含む搬送システム全体の重心位置を求める物理量管理部と、経路に追従させる点を重心位置に設定して、経路追従制御を行う移動制御部とを備える。【選択図】図１