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A sensor-based planning algorithm for mobile robots in complex workspaces given a global plan is investigated. An issue of workspace recognition effort is tackled by the proposed algorithm. An integrated planning and control scheme is proposed as well. The local planning algorithm uses information of via-points from a global planning algorithm to generate the local path. Moreover, the local planning algorithm will generate a sub-via-point once an obstacle detected in the sensing area. A Lyapunov-based control law for tracking the current sub-via-point or the current via-point is introduced. A simulation which shows path, linear velocity, and angular velocity generated by the control design to drive the robot to the current via-point or sub-via-point is presented.