A method of approaching at least one predetermined position (X G, Y G, Z G) with a robot-fixed first reference of a mobile redundant robot, wherein the mobile redundant robot comprises a mobile base and a multi-axis robot arm, wherein the mobile base has a second reference fixed with respect to the base of the robot as well as at least two translational degrees of freedom and at least one rotational degree of freedom that can be actuated, wherein the method comprises the following steps: determining a position of an obstacle during a movement of the robot; determining one of a plurality of possible values of a first redundant degree of freedom (ρ 2) of the robot as a function of the position of the obstacle that has been determined, wherein the value of the first redundant degree of freedom (ρ 2) of the robot is the distance of the second reference, which is fixed with respect to the base of the robot, to the predetermined position (X G, Y G, Z G) of the first reference, wherein the value of the first redundant degree of freedom (ρ 2) is determined in such a way that it lies in a middle range of a permissible range of values of the first redundant degree of freedom (ρ 2), and wherein the middle range is equidistantly spaced from the limits of the permissible range of values; determining one of a plurality of possible values of a second redundant degree of freedom (ρ 1) of the robot as a function of a change in the first redundant degree of freedom (ρ 2), wherein the value of the second redundant degree of freedom (ρ 1) of the robot is an orientation angle of the orientation of the mobile base; moving the mobile base as a function of these values of the first and second redundant degrees of freedom (ρ 2, ρ 1) that have been determined, so that the mobile base avoids the obstacle; and, during the course of this, moving the first reference of the robot arm as a function of the movement of the mobile base, so that the predetermined position (X G, Y G, Z G) is approached. wherein the mobile base has a second reference fixed with respect to the base of the robot as well as at least two translational degrees of freedom and at least one rotational degree of freedom that can be actuated, wherein the method comprises the following steps: determining a position of an obstacle during a movement of the robot; determining one of a plurality of possible values of a first redundant degree of freedom (ρ 2) of the robot as a function of the position of the obstacle that has been determined, determining a position of an obstacle during a movement of the robot; determining one of a plurality of possible values of a first redundant degree of freedom (ρ 2) of the robot as a function of the position of the obstacle that has been determined, wherein the value of the first redundant degree of freedom (ρ 2) of the robot is the distance of the second reference, which is fixed with respect to the base of the robot, to the predetermined position (X G, Y G, Z G) of the first reference, wherein the value of the first redundant degree of freedom (ρ 2) is determined in such a way that it lies in a middle range of a permissible range of values of the first redundant degree of freedom (ρ 2), and wherein the middle range is equidistantly spaced from the limits of the permissible range of values; determining one of a plurality of possible values of a second redundant degree of freedom (ρ 1) of the robot as a function of a change in the first redundant degree of freedom (ρ 2), wherein the value of the second redundant degree of freedom (ρ 1) of the robot is an orientation angle of the orientation of the mobile base; moving the mobile base as a function of these values of the first and second redundant degrees of freedom (ρ 2, ρ 1) that have been determined, so that the mobile base avoids the obstacle; and, during the course of this, moving the first reference of the robot arm as a function of the movement of the mobile base, so that the predetermined position (X G, Y G, Z G) is approached.