Autonomous travel path planning method

10:

• An autonomous travel path planning method to plan a path for an autonomous traveling body to autonomously travel, the method comprising:
• obtaining a travel area 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 corresponding to 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;
• and
• creating a filling travel path so as to fill an inside of the second grid area.

12:

• The autonomous travel path planning method according to claim 10, wherein
• the obtaining the travel area includes teaching a boundary of the travel area by the autonomous traveling body, and creating an outer periphery teaching path, so as to determine the travel area;
• and
• the method further includes determining an autonomous travel path by continuously connecting an outer rounding path created based on the outer periphery teaching path, the filling travel path, and the inner rounding path.

13:

• The autonomous travel path planning method according to claim 12, further comprising:
• setting a start position of the filling travel path on the outer rounding path;
• and
• setting an end position of the filling travel path in a vicinity of the start position inner than the outer rounding path.

14:

• The autonomous travel path planning method according to claim 10, further comprising:
• creating a test travel path to detect an environmental change;
• and
• causing the autonomous traveling body to travel the test travel path.