Patent Document ID: 8296005
Application ID: 12565264
Patent Status: 1

Claim One:
1. A mobile apparatus equipped with a control device, which moves autonomously by the control device controlling the operation thereof according to a target position trajectory indicating a temporal changing pattern of the target position, the control device comprising: a first control processing element which is configured to determine whether or not a first moving condition in which the mobile apparatus is capable of moving according to the current target position trajectory without being obstructed by an object, is satisfied, and when it is determined that the first moving condition is not satisfied, determine whether or not a second moving condition in which the mobile apparatus is capable of moving according to the current target position trajectory without being obstructed by the object by a displacement of the object according to a first pattern, is satisfied, and at the same time determine whether or not the object belongs to a first classification in which the object is capable of recognizing the action pattern of the mobile apparatus and is capable of moving autonomously; and a second control processing element which is configured to control the operation of the mobile apparatus so as to move according to the target position trajectory, when it is determined by the first control processing element that the first moving condition is satisfied, and control the operation of the mobile apparatus so as to prompt the object to move according to the first pattern or an arbitrary pattern, when it is determined by the first control processing element that the second moving condition is satisfied and at the same time that the object belongs to the first classification.