Aspects relate to systems and methods for guided autonomous locomotion of a carriage, including a compartment configured to ensconce a child, a frame configured to support the compartment, a drive motor, a drivetrain operatively coupled to the drive motor; a drive wheel rotatably affixed to the frame, configured to contact a support surface and operatively coupled to the drivetrain, wherein operating the at least a drive motor causes the at least a drive wheel to rotate, an environmental sensor configured to sense an environmental characteristic related to an environment substantially surrounding the carriage; a battery configured to power the at drive motor and a controller configured to control the drive motor in response to the environmental characteristic.

An autonomous mobile robot (AMR) wheelchair capable of achieving autonomous monitoring, operation, and guidance includes a wheelchair frame, fixed moving wheels mounted on front and rear sides of a bottom of the wheelchair frame to achieve movement of the wheelchair, a foot rest mounted at a front part of the wheelchair frame to support the feet of a user, and arm rests arranged on two sides of the wheelchair frame. The front moving wheels further has a function of adjusting a travelling direction of the wheelchair. Connecting frames are arranged at the bottom of the wheelchair frame; the connecting frames are movably provided with clamping frames; and an AMR device is clamped and released by adjusting a distance between the two clamping frames, without another auxiliary tool, thereby achieving an effect of conveniently removing the AMR device and facilitating updating and maintenance of the AMR device.

A control device includes: a storage that stores formation information indicating whether a first mobile body is a leader or a follower; and a controller that controls traveling of the first mobile body in a travel mode according to the formation information stored, the travel mode including a convoy mode and a rotation mode. The convoy mode is a travel mode in which mobile bodies travel in a formation. The rotation mode is a travel mode that permits the leader to perform any of types of traveling and permits the follower to perform only a rotation among the types of traveling. When the travel mode is to be switched to the rotation mode, the controller switches the travel mode from the convoy mode to the rotation mode.

A control device includes a controller that controls traveling of a first mobile body in a travel mode according to formation information, the travel mode including a convoy mode and a rotation mode. The convoy mode is a travel mode in which mobile bodies travel in a formation. The rotation mode is a travel mode that permits a leader to perform any type of traveling and permits a follower to perform only a rotation. When the formation information indicates that a first mobile body is the leader, the controller performs formation reorganization by causing all followers included in a formation to form, after the first mobile body moves from a lead position in the formation to an other position, a new formation in which the first mobile body that has moved to the other position is a new lead mobile body.