This paper attempts to develop a mobile robot which is able to move in crowded environment. When a robot works under high population density environment, it is necessary to make many collision avoidances. To solve this problem, it is available that a robot moves with a pedestrian lane, which is self-organized in crowded environment. In this paper, we regarded crowded environment as a set of pedestrian lane and developed an algorithm moving along it. As a simulation result, it was confirmed that the proposed method was more reliable than others that don’t consider a characteristic of crowded environment.