The method of searching the target within a known environment using a mobile robot has been proposed. In this paper, the target object is searched by detection using LRF and recognition using a camera. In order to improve the detection accuracy of the LRF, the environment is divided at a fixed area that the scanned resolution keeps the required resolution and searches are performed for each section. Also, in order to guarantee the minimum resolution of image recognition, a shooting point according to the performance of the camera is defined for the detected object. The mobile robot moves to a defined shooting point and shoots the object to specify the search target. The simulation result shows that the shooting point is correctly defined for the detected object.