  We present technical results justifying a method for guidance of a
Dubins-like vehicle with saturated control towards a target in a steady simply
connected maze-like environment. The vehicle always has access to to the target
relative bearing angle and the distance to the nearest point of the maze if it
is within the given sensor range. The proposed control law is composed by
biologically inspired reflex-level rules. Mathematically rigorous analysis of
this law is provided; its convergence and performance are confirmed by computer
simulations and experiments with real robots.
