A mobile apparatus capable of moving while avoiding contact with an object by allowing the object to recognize the behavioral change of the mobile apparatus is provided. The robot and its behavioral state and the object and its behavioral state are recognized as a first spatial element and its behavioral state and a second spatial element and its behavioral state, respectively, in an element space. Based on the recognition result, if the first spatial element may contact the second spatial element in the element space, a shift path is set which is tilted from the previous target path by an angle responsive to the distance between the first spatial element and the second spatial element. With the end point of the shift path as a start point, a path allowing the first spatial element to avoid contact with an expanded second spatial element is set as a new target path.