Mobile apparatus and information processing method

A method for controlling a movable apparatus, the method comprising:

• acquiring, from a sensor, a sensing result based on sensing of an object in an environment;
• generating, by at least one processor, environment information based on the sensing result;
• generating, by the at least one processor, moving mechanism control command information;
• driving, by the at least one processor, a moving mechanism based on the moving mechanism control command information to automatically move the movable apparatus in the environment;
• determining, by the at least one processor, based on the environment information, a posture of the sensor during a motion of the movable apparatus in the environment;
• generating, by the at least one processor, based on the moving mechanism control command information, sensor posture control command information;
• and
• outputting, by the at least one processor, the sensor posture control command information to a sensor posture control mechanism to stabilize the posture of the sensor, wherein
• a fluctuation of the posture of the sensor, caused by the motion of the movable apparatus, is maintained in a specific allowable range.

A movable apparatus, comprising:

• a moving mechanism configured to automatically move the movable apparatus in an environment;
• a sensor configured to:
• sense an object in the environment;
• and
• output a sensing result based on the sensed object;
• a sensor posture control mechanism configured to control a posture of the sensor;
• and
• circuitry configured to:
• generate environment information based on the sensing result;
• obtain moving mechanism control command information associated with a motion of the moving mechanism;
• output the moving mechanism control command information to the moving mechanism to drive the moving mechanism;
• determine, based on the environment information, the posture of the sensor at a time of a motion of the movable apparatus in the environment;
• generate, based on the moving mechanism control command information, sensor posture control command information;
• and
• output the sensor posture control command information to the sensor posture control mechanism to stabilize the posture of the sensor, wherein
• a fluctuation of the posture of the sensor, caused by the motion of the movable apparatus, is maintained in a specific allowable range.