To quickly recover from a status in which a local device position estimation is unavailable. A movement processor of an autonomous movement device executes a drive process for a driver so as to move autonomously. A position estimator estimates the local device position. An estimation determiner determines whether or not the estimation result of the local device position by the position estimator is uniquely defined. A movement process controller controls the movement processor so as to move to a position where the estimation result of the local device position by the position estimator is uniquely defined when the estimation determiner determines that the estimation result is not defined uniquely.