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This paper proposed sparse-sensing-based wall-following control design for a mobile-robot. In wall-following, a mobile-robot uses only five infrared sensors which are called sparse-sensing. The advantage of sparse-sensing is low cost. This mobile-robot momentarily stops and responds to the timer-interrupt of sparse sensing in order to collect the information of obstacles. Few studies discuss the sparse-sensing in the wall-following control. Hence, how to use these limited collected data for wall-following control design is the major contribution of our study. To test the performance of the sparse-sensing mobile-robot, wall-following experiments are applied. Successful navigation verifies the performance of the proposed wall-following control design.