<p>This paper proposes a new kind of navigation method for mobile robots. Instead of designing a complicated control structure for every robot, we dare to make a potential field, which manipulates the robot movement. We adopt sound in order to create the potential field. On this method, a robot selects an action from proceeding and turning based on the strength of the field. We design a control method of the sound field and a sound hearing robot, and we examine the effectiveness of the proposed method in the real world. After conducting experiments, we found that a mobile robot succeeded in a goal-navigation task by habituating appropriately the robot to the sound.</p>