First, a self-guided cleaning robot performs map cleaning in which the
self-guided cleaning robot refers to cleaning region information (map)
and travels. Then, upon performing the map cleaning, it is determined
whether or not a traveling state based on results of detection by rotary
encoders and a gyro sensor falls within predetermined a permissible
range. If it is determined that the traveling state deviates from the
permissible range, the map cleaning is finished, and is switched to
random cleaning.