I Introduction
For mobile robots a fundamental required ability is their local autonomous capacity to avoid obstacles. Until now, lots of methods[1],[2]were proposed to implement this behavior. While part of them was considered in the context of a simple wandering behavior, the others of them were implemented and discussed within some larger, goal-directed frameworks like those imposing either to reach a target, to plan the path or to follow the walls, a moving target or a line on a floor.