Abstract: This research is an evolution of previous research in which we used a knowledge-based system to free navigation area. About 2 navigation systems are developed: one uses Fuzzy Cognitive Maps (FCM) and the other is based on a Fuzzy Logic Controller (FLC). For the first system, a variant of the traditional FCM, named Hybrid-Dynamic Fuzzy Cognitive Maps (HDFCM) is used to model decision tasks and to make inference into a mobile navigation context. Fuzzy cognitive maps are a tool that model qualitative structured knowledge through concepts and causal relationships. The proposed show permits speaking to the efficient conduct of a portable robot in the nearness of changes in nature. A Hierarchical Weighted Fuzzy Logic Controller (HW-FLC) creates the second route framework. Recreation results are introduced permitting a comparison of both structures and demonstrating the capacity of the portable robot to explore among impediments in various situations (course condition). At long last, beginning genuine outcomes with arduino microcontroller appear.