What does Robinson want???

In class, we discussed several times if Robinson really wanted to leave his island or not. It seemed to be for some people more likely that Robinson wanted to stay there, having a pretty good life. I was disagreeing with it, remember that when he heard the sounds of a battle near of his position, he fired with his gun to be discovered and rescued. However, now that he saved Friday, it seems that Robinson has everything he can want. Indeed he was just missing the human communication. Later, my thoughts were reinforced by the fact that he delivered his father and another man. Robinson was beginning to create his "kingdom" on the island, like he had done in Brazil. Yet, once he learned there were some other persons not far and they would be willing to help him, he began to dream about his return to the mainland again... What is Robinson going to do? The island, considered as his kingdom or a return to Europe?