  We present 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 (even if
the target is behind the obstacle or is far from the vehicle) 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.
