Abstract: The target-seeking control method and system for mobile robots uses a raw, ultrasonic sensory signal. The present method carries-out reasoning and decision-making in a subjective environment (SE) on-board the robot. This environment has only two links to the objective environment (OE) in which the robot is operating. If the robot is at a safe place in a SE, then it is at a safe place in the corresponding OE. If the robot reaches the target in a SE, then it reaches the target in the corresponding OE, The present method uses relaxed potential fields to base enroute mobility on safety, only without having to accurately estimate the geometry of the surrounding environment, thereby significantly reducing structure complexity and increasing its reliability.