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To realize autonomous goal-oriented navigation of a mobile robot in an unknown environment, this paper proposed a fuzzy reactive control method. A virtual target approach under special optimization criteria is applied to resolve trap situation problems such as recursive U-shaped environment. The other topic considered in this paper is the Goal-Unreachable with Nearby Obstacles (GUWNO), such problem is resolved by a simple but efficient approach based on dynamic safe distance. Simulation and experimental results are presented to show the effectiveness of these proposed approaches.