PROBLEM TO BE SOLVED: To enable calculation of a route in consideration of the feeling of comfort of a user riding on a mobile body in addition to safety.SOLUTION: A mobile body 10, including a computer 12 also functioning as a route calculation apparatus, travels autonomously within an environment under an instruction of the computer. Specifically, upon inputting of a start position and a goal position into the computer, a grid map of the environment in which a level of a feeling of comfort obtained through experience is assigned to an individual cell is referred to, and a route with a short distance of movement and a high level of feeling of comfort is calculated. For example, a distance between the mobile body and an obstacle such as a wall, and a numerical value produced by quantizing a feeling of comfort received by a subject of testing who has ridden the mobile body in a case where the mobile body is put to an autonomous travel in various speeds, are assigned to an individual cell.
