An autonomous
mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle
detector unit 3, which detects an obstacle, a
route producer unit 7, which determines a
route for reaching to a destination while avoiding the obstacle detected by the obstacle
detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle
detector unit and the
route producer unit thereon and moves, thereby operating under circumstances mixing with a
human being(s), wherein the obstacle detector unit, further, detects a
terminal point of an article
lying in an advancing direction of the autonomous
mobile robot apparatus, and a distance between the
terminal point and the autonomous
mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of the route and the velocity thereof, so as to avoid to collide on the obstacle, which rushes out from the
terminal point, in the advancing direction of the autonomous mobile
robot apparatus, centering around said terminal point, and thereby enabling quick movement while avoiding collision due to rush-out.