This work develops a knowledge based system using Fuzzy Cognitive Maps (FCM) for autonomous navigation. A new variant of FCM, named Dynamic-Fuzzy Cognitive Maps (D-FCM), is used to model decision, tasks and/or make inference in the robot/mobile navigation. Fuzzy Cognitive Maps is a tool that models qualitative structured knowledge through concepts and causal relationships. The proposed model allows representing the dynamic behavior of the mobile robot (agent) in different environments. A brief review of correlated works in navigation area using FCM and Fuzzy Systems is presented. Some simulation results are discussed highlighting the ability of the mobile to navigate among obstacles and reach targets (navigation environment).