Patent attributes
A communication system including a mobile station that communicates with a wireless station and moves toward a predetermined destination, and a relay station that relays communication between the mobile station and the wireless station, includes: the mobile station that pauses movement when sensing an obstacle present on a first moving route toward the destination in a case of moving along the first moving route, and moves along a second moving route headed to the destination while avoiding the obstacle when establishing communication between the mobile station and the wireless station via the relay station in a case where the movement is paused; and the relay station that moves so as to keep a position where communication between the mobile station and the wireless station can be relayed according to movement of the mobile station when the mobile station moves along the second moving route.
