A mobile apparatus includes a position detection device, and an autonomous mobile body. The position detection device includes input means for inputting route data, a distance sensor, map data, position identification means, and relative route calculation means for calculating a relative position and a relative angle to a position of the target point from the position data and the route data of the mobile body. The autonomous mobile body includes a controller that controls an autonomous travel of the autonomous mobile body itself by using the relative position and the relative angle received from the position detection device as control signals.