The disclosure relates to an autonomous apparatus, moving and performing preset work in a defined working area, the autonomous apparatus including an energy module supplying energy to the autonomous apparatus, a motor, a sensor circuit, and a control circuit, the motor obtaining the energy from the energy module, to drive the autonomous apparatus to move and/or work in the working area, the sensor circuit detecting working parameters and environmental parameters of the autonomous apparatus, and transmitting detection results to the control circuit, the control circuit controlling the operation of the motor according to a signal transmitted by the sensor circuit, where the motor is a sensorless brushless motor, and before the motor rotates, the control circuit measures a resistance value of the motor, and estimates, one the basis of the resistance value of the motor, a rotor position of the motor, so as to control the operation of the motor.