To move a mobile robot to a destination by avoiding an obstacle.
This mobile robot 1 is mounted with a one's own position azimuth detecting means 8, a moving means 10 and an obstacle detecting means 11. An environmental map storage means 7 and a route planning means 9 are incorporated into an external device of the mobile robot 1. Communication 25 between the mobile robot 1 and the external device retrieves a route up to a moving destination 15 from one's own position 16 by referring to an environmental map 13, moves the mobile robot 1 along a planning route 17, makes avoiding motion to an unknown obstacle 18 nonexistent on the environmental map 13, retrieves the route again up to the moving destination 15 from new one's own position after deviating from the planning route 17, and allows a movement along a replanning route 21.
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