Method for an autonomous cleaning apparatus, the method comprising the steps of: scanning a vicinity of an autonomous cleaning apparatus by means of at least one sensor; detecting an unreachable area, being unreachable by the autonomous cleaning apparatus; detecting a door in proximity to the unreachable area; detecting that the unreachable area is unreachable due to the positioning of the door wing; automatically moving the door wing, by the autonomous cleaning apparatus, in order to obtain access to and clean the unreachable area.