Abstract
The movement of the robot will be even more challenging if on the mobile journey the robot gets a lot of obstacles, there are many choices to turn left or turn right and be able to go back to the place of origin, for that purpose precise and fast navigation is needed. This research offer new methods robot mobile navigation modeled using the mirror petri net method. This method is the development of the petri net method, which is a graphical and mathematical modeling method that is very suitable for modeling a contradictory movement system. The final result will be obtained a mathematical model with the same marking value, which is used as a mobile robot navigation. This same marking value will have a different meaning when departing and when return.
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