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This paper describes the mobile robot system to recognize the guidance tape, and presents the locomotion algorithm. It is composed of image processing unit, A/ID converter and camera. This system converts video image to binary image by setting an optimal threshold and obtains the parameters to move the robot. The mobile robot moves according to the programmed route in memory. But after recognized the obstacle on the locomotion route, this system constructs the new route and the robot moves following the new route.