A mobile robot having a movable main unit section, a self location measurement unit for measuring a self location of the main unit section, a map database for storing map information on a travel range of the main unit section to a travel destination, a virtual sensor information calculation unit for extracting information on obstacles to movement of the main unit section in an arbitrary detection region on the map information based on self location information measured by the self location measurement unit and the map information stored in the map database, and for calculating virtual sensor calculation information, and a route calculation unit for calculating a travel route for the main unit section to travel based on the virtual sensor calculation information calculated by the virtual sensor information calculation unit.