A method and a device are provided for a mobile robot to move in proximity to an obstacle. In the method, the mobile robot moves at a preset speed in a preset direction when it is detected that a distance between the mobile robot and the obstacle reaches a preset distance; a robot predicted moving space of the mobile robot in a next moving cycle is calculated based on the preset speed and the preset direction; and an adjusted speed and an adjusted direction of the mobile robot are determined based on the robot predicted moving space, so as to make the mobile robot move in proximity to the obstacle at the adjusted speed in the adjusted direction.