Can we use pir sensor while it's moving?
A PIR sensor on its own is effectively just two Infrared sensors next to each other:


https://www.makerguides.com/hc-sr501-arduino-tutorial/

I assume you are using one with a fresnel lens on it, and a driver/detection circuit already built in. If so, it will be basically impossible to use it while moving, since it relies on detecting a change in temperature between two areas, and it will be detecting this constantly. They are meant for detecting motion, and you are moving all the time.

Even if you created your own driver, I imagine it would still be pretty difficult to do it (maybe impossible).