An autonomous body adapted to start traveling from a travel start point located within a restricted moving area in which the autonomous body is adapted to move and arrive at a travel end point located within the restricted moving area, comprising: means to create a traveling path of the autonomous moving body, the traveling path extending from the travel start point to the travel end point; means to calculate a point at which a moving obstacle located within the moving area crosses the traveling path of the autonomous moving body as a collision prediction point; means to define a time-space coordinate system in which an elapsed time from a current time is indicated on a horizontal axis and a distance from a current position of the autonomous moving body along the traveling path is indicated on a vertical axis; means to draw a movement track of the autonomous moving body on the time-space coordinate system; means to define, when the moving obstacle passes through the collision prediction point, a square-shaped area (Rb) containing the moving obstacle for the moving obstacle, and draws an area surrounded by four times and positions as the obstacle occupation area on the time-space coordinate system, each of the four times and positions corresponding to a respective one of four vertices of the square-shaped area as the square-shaped area pass through the traveling path; means to determine whether or not the movement track overlaps the obstacle occupation area; and means to adjust, if the movement track overlaps the obstacle occupation area in a result of the determination, a traveling speed of the autonomous moving body by decreasing the traveling speed so that the movement track passes through a time and position at which the square-shaped area has completely passed the traveling path and whose value on the vertical axis is smaller than that of any other times and positions among the four times and positions, or increasing the traveling speed so that the movement track passes through a time and position at which the square-shaped area starts to pass the traveling path and whose value on the vertical axis is larger than that of any other times and positions. means to create a traveling path of the autonomous moving body, the traveling path extending from the travel start point to the travel end point; means to calculate a point at which a moving obstacle located within the moving area crosses the traveling path of the autonomous moving body as a collision prediction point; means to define a time-space coordinate system in which an elapsed time from a current time is indicated on a horizontal axis and a distance from a current position of the autonomous moving body along the traveling path is indicated on a vertical axis; means to draw a movement track of the autonomous moving body on the time-space coordinate system; means to define, when the moving obstacle passes through the collision prediction point, a square-shaped area (Rb) containing the moving obstacle for the moving obstacle, and draws an area surrounded by four times and positions as the obstacle occupation area on the time-space coordinate system, each of the four times and positions corresponding to a respective one of four vertices of the square-shaped area as the square-shaped area pass through the traveling path; means to determine whether or not the movement track overlaps the obstacle occupation area; and means to adjust, if the movement track overlaps the obstacle occupation area in a result of the determination, a traveling speed of the autonomous moving body by decreasing the traveling speed so that the movement track passes through a time and position at which the square-shaped area has completely passed the traveling path and whose value on the vertical axis is smaller than that of any other times and positions among the four times and positions, or increasing the traveling speed so that the movement track passes through a time and position at which the square-shaped area starts to pass the traveling path and whose value on the vertical axis is larger than that of any other times and positions.