Abstract: A vehicle which is capable of recognizing shapes in a predetermined area, comprising: a plurality of ultrasonic sensors, an encoder, map drawing means for sequentially and continuously drawing a map of the prescribed area determined by information received from the encoder and ultrasonic sensors, memory means for storing the map drawn by the map drawing means and control means for instructing rectilinear movement, starting stopping and turning of the vehicle so as to move in a serpentine fashion, wherein the ultrasonic sensors, encoder and map drawing means are operated by the control means, the memory means writes and stores a history of its own movements in the area and as information is received remembers detected information from the encoder, and a change of direction of the vehicle which is instructed by the control means is determined by information on the map as well as the areas through which the vehicle has previously passed.