An autonomous moving body that autonomously travels from a travel start point to a travel end point in an environment, comprising: a distance measuring sensor configured to measure a distance to an object existing in the environment; a distance information acquisition unit configured to acquire a distance measurement value of the distance measuring sensor as distance information on a measurement point; and a dangerous area extracting unit configured to; determine whether a distance difference between adjacent measurement points is equal to or larger than a first threshold that increases as a distance from the autonomous moving body increases, categorize the adjacent measurement points as an identical object when the distance difference is smaller than the first threshold, and determine an endpoint of the object as a dangerous area when the categorized object itself has a length equal to or larger than a predetermined second threshold and when an opening between endpoints of the objects has a width equal to or larger than a predetermined third threshold, wherein the endpoint of the object determined as the dangerous area is a dangerous candidate area and the dangerous area extracting unit determines whether an angle formed between a straight line connecting the dangerous candidate area as a base point and another endpoint of the identical object and a traveling direction of the autonomous moving body is equal to or larger than a predetermined fourth threshold, and determines the dangerous candidate area as a dangerous area when the angle is equal to or larger than the predetermined fourth threshold, wherein the autonomous moving body travels so as to avoid a collision in the determined dangerous area. a distance measuring sensor configured to measure a distance to an object existing in the environment; a distance information acquisition unit configured to acquire a distance measurement value of the distance measuring sensor as distance information on a measurement point; and a dangerous area extracting unit configured to; determine whether a distance difference between adjacent measurement points is equal to or larger than a first threshold that increases as a distance from the autonomous moving body increases, categorize the adjacent measurement points as an identical object when the distance difference is smaller than the first threshold, and determine an endpoint of the object as a dangerous area when the categorized object itself has a length equal to or larger than a predetermined second threshold and when an opening between endpoints of the objects has a width equal to or larger than a predetermined third threshold, wherein the endpoint of the object determined as the dangerous area is a dangerous candidate area and the dangerous area extracting unit determines whether an angle formed between a straight line connecting the dangerous candidate area as a base point and another endpoint of the identical object and a traveling direction of the autonomous moving body is equal to or larger than a predetermined fourth threshold, and determines the dangerous candidate area as a dangerous area when the angle is equal to or larger than the predetermined fourth threshold, determine whether a distance difference between adjacent measurement points is equal to or larger than a first threshold that increases as a distance from the autonomous moving body increases, categorize the adjacent measurement points as an identical object when the distance difference is smaller than the first threshold, and determine an endpoint of the object as a dangerous area when the categorized object itself has a length equal to or larger than a predetermined second threshold and when an opening between endpoints of the objects has a width equal to or larger than a predetermined third threshold, wherein the endpoint of the object determined as the dangerous area is a dangerous candidate area and the dangerous area extracting unit determines whether an angle formed between a straight line connecting the dangerous candidate area as a base point and another endpoint of the identical object and a traveling direction of the autonomous moving body is equal to or larger than a predetermined fourth threshold, and determines the dangerous candidate area as a dangerous area when the angle is equal to or larger than the predetermined fourth threshold, wherein the autonomous moving body travels so as to avoid a collision in the determined dangerous area.