Mobile Robo One of the major challenges in designing intelligent vehicles capable of autonomous travel on highways is reliable obstacle avoidance. Obstacle avoidance may be divided into two parts, obstacle detection and avoidance control. There has been a great amount of research devoted to the obstacle avoidance problem for mobile robot platforms and intelligent vehicles. Any mobile robot that must reliably operate in an unknown or dynamic environment must be able to perform obstacle avoidance. As road following and off road systems have become more capable, more attention has been focused on obstacle detection problem.Disclosed is a mobile robot, wherein obstacles are efficiently sensed through frequency transmitters and receivers and is designed specially to detect breakage of fire and gas leakage. The active process is monitored through a camera mounted on the unit.