The paper proposes an autonomous mobile robot that can keep moving in a human environment all day. We conducted a long-term demonstration experiment in a science museum. The goals of the experiment were (1) to clarify what the proposed navigation can and cannot do without a human-motion model and (2) to collect a large amount of real pedestrian motion data on global map coordinates from the robot in motion. The experimental results indicate that the proposed autonomous robot worked stably for more than 120 hours without collisions. The collected pedestrian observation data is evaluated by comparing it with data collected from distributed static sensors.