The present invention relates to a road crossing method for a mobile robot. The road crossing method comprises the mobile robot approaching a road crossing. Further, the road crossing method comprises estimating, with a data processing unit, a location and time of collision with at least one dynamic object on the road crossing. Further still, the road crossing method comprises generating, with the data processing unit, control commands for the mobile robot to avoid collision with the at least one dynamic object based on the estimated location and time of collision with the at least one dynamic object. In addition, the present invention relates to a mobile robot comprising the data processing unit and configured to carry out the road crossing method. In a further aspect, the present invention relates to a positioning method for a wheeled mobile robot positioned on a sloped terrain, comprising the mobile robot performing at least one maneuver for minimizing a magnitude of an acceleration vector of the mobile robot due to the gravity force acting on the mobile robot. In addition, the present invention relates to a mobile robot configured to carry out the positioning method.