A control system includes an obtainer that obtains sensing data output from a sensor that performs sensing of an outside of a mobile body, a detector that detects a position of an object outside the mobile body based on the sensing data, a movement predictor that predicts a movement of the object based on the sensing data, a costmap generator that generates a first costmap based on the position detected of the object and a second costmap based on the movement predicted of the object, a path generator that generates a path for the mobile body based on the first costmap, a determination generator that generates a movement determination of the mobile body based on the second costmap and the path generated, and a controller that controls the movement of the mobile body in accordance with the path generated and the movement determination.