Autonomous mobile apparatus, method for controlling the same, and recording medium

1. An autonomous mobile apparatus comprising:

a sensor configured to acquire a state relating to the autonomous mobile apparatus; and

a processor configured to:

acquire map information including positional information of an obstacle,

plan, based on the acquired state and the acquired map information, a shape of the autonomous mobile apparatus and a traveling path of the autonomous mobile apparatus, to cause the autonomous mobile apparatus to express an emotion and to avoid contact between the autonomous mobile apparatus and the obstacle when the autonomous mobile apparatus is traveling along the traveling path, and

cause the autonomous mobile apparatus to autonomously travel along the planned traveling path while assuming the planned shape,

wherein the autonomous mobile apparatus is configured as a robot mimicking a human being or an animal.

2. The autonomous mobile apparatus according to claim 1 , wherein the processor is configured to:

plan, based on the acquired state, an emotion expression shape as the shape of the autonomous mobile apparatus, the emotion expression shape being a shape for expressing the emotion of the autonomous mobile apparatus,

predict, based on the positional information of the obstacle as included in the acquired map information, whether the autonomous mobile apparatus assuming the planned emotion expression shape will come into contact with the obstacle when travelling along the planned traveling path,

change, in a case where the processor predicts that the autonomous mobile apparatus will come into contact with the obstacle, the planned emotion expression shape to avoid the contact between the autonomous mobile apparatus and the obstacle when the autonomous mobile apparatus is traveling along the traveling path, and

cause the autonomous mobile apparatus to autonomously travel along the planned traveling path while assuming the changed emotion expression shape.

3. The autonomous mobile apparatus according to claim 2 , wherein the processor is configured to change, in a case where the processor predicts that the autonomous mobile apparatus will come into contact with the obstacle, the planned emotion expression shape to any one of a plurality of shapes that are candidates for the emotion expression shape.

4. The autonomous mobile apparatus according to claim 2 , wherein the processor is configured to:

further predict, in a case where the processor predicts that the autonomous mobile apparatus will come into contact with the obstacle, whether the autonomous mobile apparatus will come into contact with the obstacle even when being rotated; and

change, in a case where the processor predicts that the autonomous mobile apparatus will come into contact with the obstacle even when being rotated, the planned emotion expression shape.

5. The autonomous mobile apparatus according to claim 2 , wherein the processor is configured to:

change the planned traveling path in a case where the processor predicts that the autonomous mobile apparatus will come into contact with the obstacle and that the autonomous mobile apparatus will still come into contact with the obstacle even when the planned emotion expression shape is changed; and

cause the autonomous mobile apparatus to autonomously travel along the changed traveling path while assuming the planned emotion expression shape.

6. The autonomous mobile apparatus according to claim 2 , further comprising:

a torso; and

a movable part capable of being driven relative to the torso,

wherein the processor is configured to change the planned emotion expression shape to a shape in which the movable part is brought closer to the torso.

7. The autonomous mobile apparatus according to claim 2 , wherein the processor is configured to predict whether the autonomous mobile apparatus will come into contact with the obstacle, based on the positional information of the obstacle as included in the acquired map information and on regional information indicating a region of the autonomous mobile apparatus when assuming the planned emotion expression shape.

8. The autonomous mobile apparatus according to claim 7 , wherein the regional information is a projected region of the autonomous mobile apparatus projected onto a horizontal plane.

9. The autonomous mobile apparatus according to claim 8 , wherein the processor is configured to change the planned emotion expression shape so that the projected region is made smaller.

10. The autonomous mobile apparatus according to claim 2 , wherein the processor is configured to change, in a case where the processor predicts that the autonomous mobile apparatus will come into contact with the obstacle, the planned emotion expression shape after the autonomous mobile apparatus in the planned emotion expression shape starts traveling along the planned traveling path.

11. The autonomous mobile apparatus according to claim 10 , wherein the processor is configured to predict, after the autonomous mobile apparatus in the planned shape starts traveling along the planned traveling path, whether the autonomous mobile apparatus will come into contact with the obstacle.

12. The autonomous mobile apparatus according to claim 2 , wherein:

the obstacle comprises a first obstacle and a second obstacle, and a space between the first obstacle and the second obstacle has a predetermined gap, and

the processor is configured to predict whether the autonomous mobile apparatus is capable of passing through the space between the first obstacle and the second obstacle.

13. The autonomous mobile apparatus according to claim 1 , wherein the processor is configured to acquire the map information based on a captured image obtained by a camera that images surroundings of the autonomous mobile apparatus.

14. The autonomous mobile apparatus according to claim 1 , wherein the processor is configured to acquire the map information using a SLAM technique.

15. A method for controlling an autonomous mobile apparatus, the method comprising:

acquiring a state relating to the autonomous mobile apparatus;

acquiring map information including positional information of an obstacle;

planning, based on the acquired state and the acquired map information, a shape of the autonomous mobile apparatus and a traveling path of the autonomous mobile apparatus, to cause the autonomous mobile apparatus to express an emotion and to avoid contact between the autonomous mobile apparatus and the obstacle when the autonomous mobile apparatus is traveling along the traveling path; and

causing the autonomous mobile apparatus to autonomously travel along the planned traveling path while assuming the planned shape,

wherein the autonomous mobile apparatus is configured as a robot mimicking a human being or an animal.

16. A non-transitory recording medium that stores a program that is executable by a computer of an autonomous mobile apparatus, the autonomous mobile apparatus being configured as a robot mimicking a human being or an animal, and the program being executable to control the computer to:

acquire, from a sensor of the autonomous mobile apparatus, a state relating to the autonomous mobile apparatus;

acquire map information including positional information of an obstacle;

plan, based on the acquired state and the acquired map information, a shape of the autonomous mobile apparatus and a traveling path of the autonomous mobile apparatus, to cause the autonomous mobile apparatus to express an emotion and to avoid contact between the autonomous mobile apparatus and the obstacle when the autonomous mobile apparatus is traveling along the traveling path; and

cause the autonomous mobile apparatus to autonomously travel along the traveling path while assuming the planned shape.