| 摘要 |
A mobile apparatus or the like capable of moving or acting while surely preventing contact with an object such as a human being, by avoiding the situation where the object inappropriately changes its behavior for the purposes of preventing contact with the mobile apparatus, is provided. According to the robot of the present invention, a path that can prevent contact with the third spatial element satisfying the requirement regarding the size in the element space, among a plurality of expanded spatial elements arranged around the first spatial element, is set as a target path. This allows the robot to move in accordance with a consistent rule that is modified in response to the width of the clearance between the object and the boundary of the passable region. |
