Navigation problem of autonomous wheeled mobile robots has been a topic of research for a long time. Traditional methods have been developed a path planner and a path following controller separately. So, there is no relationship between them. This paper deals with a novel algorithm which considers their relationship simultaneously in navigation problem. Firstly, path planner under kinematic constraints is composed of circular arcs and straight lines and constructs fuzzy rules by mapping from it. Secondly, path tracking controller is realized by fuzzy logic. Thirdly, evolutinary programing modifies path planner by means of computer simulations which are composed of fuzzy tracking controller and kinematic robot. The proposed alogrithm also deals with local navigation with moving obstacle avoidance.