An evacuation guidance system includes: an evacuation guidance management system that acquires information of a disaster which has occurred in a marine vessel, acquires passenger position information in the marine vessel, formulates an evacuation route, and specifies a passenger to be subjected to evacuation guidance and a position of the passenger; and a mobile body that performs control to move an own device to the position of the specified passenger on the basis of the specified passenger and the position of the passenger and to move the own device along the evacuation route while outputting guidance information to the passenger.