AUTONOMOUS TRAVEL ROUTE PLANNING METHOD, AUTONOMOUS TRAVELING METHOD, AND PROGRAM

An autonomous travel route planning method includes creating a global map including obstacle information indicating an obstacle existing in a movement environment, setting an outer peripheral boundary corresponding to an outer periphery of a travel area by associating the outer peripheral boundary with the global map, creating a route creation map in which the obstacle information existing inside the outer peripheral boundary is deleted, and creating the filling travel route to fill in the travel area included in the route creation map.