A communication device including a first directional antenna and a second directional antenna which may each be set to any one of a plurality of main beam directions for radio communication, a transceiver configured to determine a reception quality for at least some of the plurality of main beam directions using the first directional antenna and for at least some of the plurality of main beam directions using the second directional antenna, select a main beam direction of the plurality of main beam directions based on the reception qualities determined by the first directional antenna and based on the reception qualities determined by the second directional antenna, and perform communication using the selected main beam direction.