| 摘要 |
<p>The invention provides a mobile apparatus capable of moving or acting while avoiding contact with an object, such as a person, while reducing the frequency of inducing a change in the behavior of the object. It is determined whether or not there is a first spatial element (Q1) that satisfies a contact condition that there is a possibility of contact with a reference spatial element (Q0) on a discriminant plane including at least part of a representative point trajectory of a robot (1). The reference spatial element(Qo)and the first spatial element(Qi)represent current images of the robot (1) and an object (x), respectively. If it is determined that there is a first spatial element (Q1) that satisfies the contact condition, a second action plan element involving changing the representative point trajectory is assumed, and it is determined whether or not there is a first spatial element (Q1) that satisfies the contact condition on a new discriminant plane including at least part of the changed representative point trajectory. If it is determined that there is no first spatial element (Q1) that satisfies the contact condition on the new discriminant plane, the assumed new "second action plan element" is set.
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