Mobile apparatus

A mobile apparatus that moves in a specified range, comprising:

• a main body;
• a range sensor that is mounted to the main body and measures a distance between the main body and an object that is present at a position in a specified direction with respect to the main body;
• an operation device configured to generate a route data according to which the main body is moved;
• and
• a mobile mechanism that moves the main body according to the route data generated by the operation device, wherein
• the operation device includes:
• a wide route data generation unit that generates a wide route data according to which the main body is moved from a first specified location to a second specified location, the first specified location and the second specified location being set in the specified range,
• a determination unit that determines a location and a posture of a reference object that is located in the vicinity of the second specified location based on the measured distance received from the range sensor,
• an approaching route data generation unit that generates, based on the determination of the determination unit, an approaching route data according to which the main body is moved from the second specified location to a target location at which the main body is placed in a specified location and a specified posture with respect to the reference object, and
• a route data switching unit that, after the approaching route data is generated, switches traveling route for the main body from the wide route data to the approaching route data, and wherein
• the approaching route data generation unit generates the approaching route data while the main body is traveling according to the generated wide route data.