Patent ID: 8103383

Claim:
A mobile apparatus autonomously moving along a target path, comprising: a first processing element which recognizes a position of a boundary of a region where the mobile apparatus is passable, the mobile apparatus and a position thereof, and an object and a position thereof, as a position of a boundary of an element space, a reference spatial element and a position thereof, and a first spatial element and a position thereof, respectively; a second processing element which, based on the position of the boundary of the element space and the first spatial element and the position thereof included in a recognition result of the first processing element, selects one of an expanded spatial element and a position thereof, among a plurality of expanded spatial elements arranged around the first spatial element, satisfying a requirement that a size in the element space is minimum or is equal to or less than a threshold value as a third spatial element and the position thereof; and a third processing element which, based on the position of the boundary of the element space, the reference spatial element and the position thereof, and the first spatial element and the position thereof included in the recognition result of the first processing element and based on the third spatial element and the position thereof included in a selection result of the second processing element, sets a path that allows the reference spatial element to prevent contact with the first spatial element and the third spatial element in the element space as the target path.