An autonomous traveling body comprising: a main casing; a driving wheel for making the main casing travel; a motor for driving the driving wheel; distance detection means for detecting a distance to an object located sideward of the main casing; object detection means for detecting an object located forward of the main casing; and control means for controlling drive of the motor to make the main casing autonomously travel, wherein the control means has modes of: travel control for, while a distance between the main casing and a sideward object detected by the distance detection means is kept within a specified distance range, driving the motor so as to make the main casing travel along the object; and directional change control for, when an object forward of the main casing is detected by the object detection means during the travel control, driving the motor so as to make the main casing change in advancing direction along the detected forward object, characterized in that, the directional change control includes at least swing control for driving the motor so as to make the main casing swing to a specified swing angle while disregarding a distance detected by the distance detection means and, in the state when a distance detected by the distance detection means is not a specified constant value, driving the motor so as to make the main casing further swing until the distance becomes the specified constant value. a main casing; a driving wheel for making the main casing travel; a motor for driving the driving wheel; distance detection means for detecting a distance to an object located sideward of the main casing; object detection means for detecting an object located forward of the main casing; and control means for controlling drive of the motor to make the main casing autonomously travel, wherein the control means has modes of: travel control for, while a distance between the main casing and a sideward object detected by the distance detection means is kept within a specified distance range, driving the motor so as to make the main casing travel along the object; and directional change control for, when an object forward of the main casing is detected by the object detection means during the travel control, driving the motor so as to make the main casing change in advancing direction along the detected forward object, characterized in that, the directional change control includes at least swing control for driving the motor so as to make the main casing swing to a specified swing angle while disregarding a distance detected by the distance detection means and, in the state when a distance detected by the distance detection means is not a specified constant value, driving the motor so as to make the main casing further swing until the distance becomes the specified constant value. travel control for, while a distance between the main casing and a sideward object detected by the distance detection means is kept within a specified distance range, driving the motor so as to make the main casing travel along the object; and directional change control for, when an object forward of the main casing is detected by the object detection means during the travel control, driving the motor so as to make the main casing change in advancing direction along the detected forward object, characterized in that, the directional change control includes at least swing control for driving the motor so as to make the main casing swing to a specified swing angle while disregarding a distance detected by the distance detection means and, in the state when a distance detected by the distance detection means is not a specified constant value, driving the motor so as to make the main casing further swing until the distance becomes the specified constant value.