Autonomous travel path planning method

An autonomous travel path planning method to plan a path for an autonomous traveling body to autonomously travel, the method comprising:

• detecting, by a sensor, obstacle information;
• estimating position information based on the obstacle information detected by the sensor;
• obtaining a travel area, based on the position information, to perform filling travel in an environmental map;
• creating a first grid area covering an area corresponding to the travel area with a plurality of grids;
• calculating a deviation width of a body of the autonomous traveling body from the travel area when the autonomous traveling body changes its direction, based on a body size of the autonomous traveling body, a turning radius thereof, a turning movement distance, and a grid size;
• creating one or more inner rounding paths covering at least a portion of the deviation width;
• creating a second grid area including a boundary at a position corresponding to an innermost inner rounding path by validating, of the plurality of grids included in the first grid area, a first grid in which the innermost inner rounding path is included, and a second grid inside of the first grid area and inward of the first grid, and invalidating other grids of the first grid area;
• creating a filling travel path so as to fill an inside of the second grid area;
• and
• controlling the autonomous traveling body to autonomously travel along the filling travel path.