1. A behavior control apparatus for controlling behavior of a mobile unit, comprising: sensory input capturing method for capturing sensory inputs; motion estimating method for estimating motion of the mobile unit; target segregation method for segregating the portion which includes a target object to be target for behavior of the mobile unit from sensory inputs; target object matching method for extracting target object from said segregated portion; target location acquiring method for acquiring the location of the target object; behavior decision method for deciding behavior command for controlling the mobile unit based on the location of target object.