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.