Autonomous mobile body and method performed by autonomous mobile body

A control method performed by an autonomous mobile body that controls traveling of the autonomous mobile body and includes a move mechanism and a sensor that obtains position information of an environmental object present in vicinity of the autonomous mobile body, the control method comprising:

• based on the position information obtained, successively generating a first target position on a navigation path from a current position of the autonomous mobile body to a final target position to result in successively generated first target positions, and controlling the move mechanism to cause the autonomous mobile body to reach the final target position by tracking the successively generated first target positions,
• wherein the controlling includes:
• in a case where, based on the position information obtained, a no-entry region for the autonomous mobile body is not present on a navigation path from the current position of the autonomous mobile body to the first target position, when an environmental object is detected based on position information newly obtained by the sensor when the autonomous mobile body is moving on the navigation path from the current position to the first target position, stopping at least one of movement or rotation that changes a travel direction, the movement and the rotation being caused by the move mechanism in a direction in which the autonomous mobile body possibly collides with the environmental object detected, and
• when at least one of the movement or the rotation is stopped in the stopping, in the controlling, a second target position is generated in a direction in which the autonomous mobile body is able to move from the current position, and the move mechanism is controlled to cause the autonomous mobile body to move to the first target position after moving from the current position to the second target position.