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In this paper we propose a circular path planning algorithm using a monocular camera and ultrasonic sensors in order for a mobile robot to avoid obstacles. The proposed circular path algorithm determines the radius of a circular to avoid the detected obstacle using its position and size data. A monocular camera and ultrasonic sensors are used in order to compensate the shortage of usage of each sensor. Multiple sensor data are combined using the grid map method. Velocity of the mobile robot to move along the circular path to avoid an obstacle is controlled to guarantee stable motion. The control performance of the proposed algorithm is shown through the experiments using Pioneer2-DX mobile robot.