1. A system for controlling navigation of a mobile robot comprising: a vision sensor for sensing a spatial configuration of an environment in which the robot moves; first means for predesignating shape features of an object existing in the environment; second means for preestablishing an evaluation function defined at least with respect to a distance between the object and the mobile robot and an angle determined at least by a pair of shape features; and third means for selecting at least one pair of shade features among the shape features in accordance with the evaluation function to measure distances from the pair of shape features so as to recognize a current position of the mobile robot in the environment.