MOBILE APPARATUS, METHOD FOR DETERMINING POSITION, AND NON-TRANSITORY RECORDING MEDIUM

A mobile apparatus performs teaching travel and autonomous travel on a travel route. In the teaching, the mobile apparatus stores in a storage unit a position and posture of the mobile apparatus traveling on the travel route under control by a manual operation. In, the autonomous travel, the mobile apparatus autonomously travels on the travel route. The mobile apparatus includes an information generation unit (46) to generate, for each of nodes on the travel route independently for each of multiple external sensors, calculation information used for calculating a deviation between a node passed in the teaching travel and a point passed in the autonomous travel, and store in the storage unit the calculation information in association with the node and the external sensor. The mobile apparatus further includes an autonomous travel unit (43) including a deviation calculation unit (43b) to calculate, for each node independently for each of the multiple external sensors, the deviation based on the calculation information and a sensor value of the external sensor obtained in the autonomous travel; a position estimation unit (43c) to determine, for each node independently for each of the multiple external sensors, the calculated deviation as a position and posture of the node on the travel route with reference to the position and posture of the mobile apparatus; and an integration unit (43d) to integrate, for each node, the positions and postures of the node determined independently for each of the multiple external sensors. The autonomous travel unit (43) controls the mobile apparatus to autonomously travel on the travel route based on the integrated position and posture of each node on the travel route integrated by the integration unit (43d).