To provide a mobile robot system having high return capability to home position without using a reflective tape, etc.

Mobile path information of the combinations of moving straightforward, backward, and turning left and right by 90 degrees is given in advance to a wheel robot 1. When one of users 200 of fixed position transmits position information to a station PC 102 using a radio communication means, a corresponding predetermined path is instructed to the robot 1, and the robot 1 moves along the above path to the vicinity of the user 200. As a return path, a motion reverse to the motion in the forward path is instructed to the robot 1, so as to return to the fixed position in the station 100. In this case, by moving on the return path with the reverse motion to the forward path, highly accurate return to home position becomes possible.