Mobile robot with collision anticipation

A mobile robot (1) having energizable and steerable running gear (2) and at least one robot arm (5.1, 5.2, 5.3) mounted on the energizable and steerable running gear (2), a proximity sensor system comprising a plurality of proximity sensors, said proximity sensor system configured for sensing obstacles (29) in the surroundings of the robot (1) and a navigation path controller (32), responsive to said proximity sensor system sensed obstacles (29) and to destination location coordinate data and current location coordinate data, for calculating a route (34) on which the energizable and steerable running gear (2) is able to travel from said current location to said destination location past the sensed obstacles (29) without any collisions occurring, characterised in that the navigation path controller (32) is adapted to transmit, prior to energizing said energizable and steerable running gear (2) of said mobile robot (1), information relating to the calculated route (34) to a robot navigation controller (31) for each of the at least one robot arm (5.1, 5.2, 5.3), and wherein the robot navigation controller (31.1, 31.2, 31.3) is responsive to said proximity sensor system and to said calculated route (34), for examining the calculated route (34) for a risk of collision between the sensed obstacles (29) and each of the at least one robot arm (5.1, 5.2, 5.3) and responsive to examining the calculated route (34) for a risk of collision between the sensed obstacles (29) and a current position of each of the at least one robot arm (5.1, 5.2, 5.3), said robot navigation controller (31.1, 31.2, 31.3) configured for determining that there is a risk of a collision between the sensed obstacles (29) and a current position of each of the at least one robot arm (5.1, 5.2, 5.3) as said energizable and steerable running gear (2) of said mobile robot (1) moves said mobile robot (1) along said calculated route (34), and responsive to said determination, for calculating a permissible position for each of the robot arm (5.1, 5.2, 5.3) with reference to the sensed obstacles (29) as said energizable and steerable running gear (2) of said mobile robot (1) moves said mobile robot (1) along said calculated route (34) and for causing said at least one robot arm (5.1, 5.2, 5.3) to move into said permissible position as said energizable and steerable running gear (2) of said mobile robot (1) moves said mobile robot (1) along said calculated route (34).