1. A mobile apparatus that has a control system, moves according to a first action plan element under the control of the control system, and adjusts a posture according to a second action plan element, wherein said control system comprises: a first processing section which recognizes a current image of said mobile apparatus, a current image of an object, and an intermittent or continuous future image of the object, which is determined according to behavior of the object and has a larger size than the current image thereof, as a reference spatial element, a first spatial element and a second spatial element having a larger size than the first spatial element, respectively, on a discriminant plane including at least a part of a representative point trajectory of said mobile apparatus determined based on said second action plan element; a second processing section which determines, based on the result of the recognition by the first processing section, whether or not there is the first spatial element that satisfies a contact condition that there is a possibility of contact with the reference spatial element on the discriminant plane; and a third processing section which assumes the second action plan element involving changing the representative point trajectory and makes the first processing section recognize the reference spatial element, the first spatial element and the second spatial element on a new discriminant plane including at least a part of the changed representative point trajectory and determine whether or not there is the first spatial element that satisfies the contact condition on the new discriminant plane under the assumption when the second processing section determines that there is a first spatial element that satisfies the contact condition on the discriminant plane, and sets a route that allows the reference spatial element to avoid contact with the second spatial element as said first action plan element on the discriminant plane including at least a part of the representative point trajectory not changed based on the result of the recognition by the first processing section when the second processing section determines that there is still a first spatial element that satisfies the contact condition on the new discriminant plane, and sets the assumed second action plan element as a new second action plan element when the second processing section determines that there is no first spatial element that satisfies the contact condition on the new discriminant plane.