The control apparatus for a movable robot comprises: environment
information acquisition means (such as video camera 3 and microphone 4);
a current position detecting means (15); a map storage (7); a control
parameter storage (9) for storing control parameters adjusted to
different environments; and control means (11, 12) for determining a
current position of the robot on the map data based on a signal from the
current position detecting means, retrieving control parameters suitable
for the current position from the parameter storage, and controlling the
environment information acquisition means or actuators for moving the
robot by using the retrieved control parameters.