Abstract
In this work we focused on the study of how a mobile robot with kinematic model can reach a target in an hostile environment, with one obstacle. We developed a new approach which breaks up the control law into the sum of a repulsive part u(r) and an attractive part u(a) to make a mobile robot converge to the target, while avoiding the obstacle. Our approach is based on Lyapunov technique and transformation to polar coordinates in order to built a control law without analytic switch among different cases of robot's navigation. Simulations are carried out for two scenarios of navigation for target capturing.