Tsukuba challenge is a real world robot challenge which mobile robots autonomously run over 1km in the park or pedestrian path in Tsukuba city, Japan. We have developed several mobile robots from 2007 and evaluated our intelligent software modules in Tsukuba challenge. Our mobile robot autonomously ran from start to goal in 2009. During the navigation, the robot did not lose its position in environment surrounding by many people, and avoided visited walkers and obstacles safely.