This paper presents a method that a mobile robot finds location of doors in complex environments and safely traverses the door PCA(Principal Component Analysis) algorithm using the vision information is used for a robot to find the location of door, PCA is a useful statistical technique that has found application in fields such as face recognition and image compression, and is a common technique for finding pattern in data of high dimension. Fuzzy controller using a sonar data is used for a robot to avoid obstacles and traverse the doors.