A mobile robot and method of controlling thereof

A method of controlling 2 a mobile robot 1 comprises storing an environment map 22 in a memory 5, the environment map including data to enable the robot to navigate the environment; further storing in the memory data 24 corresponding to one or more hazard areas encountered by the mobile robot during previous operations, the data corresponding to one or more hazard areas comprising a probability factor associated with each hazard area. The method further comprises updating the hazard data, reducing the probability factor for a particular hazard area when the mobile robot navigates through the hazard area without encountering a further hazard and reducing a tilt threshold 6 of the robot when the mobile robot is navigating within an area of the environment that corresponds to a previously encountered hazard area having a probability factor above a predetermined threshold. The robot is preferably a cleaning robot.