Obstacle avoidance and trajectory minimization are the main concerns in mobile robotics navigation. Motivated by these demands fuzzy logic controller using neighborhood zone is firstly investigated in this paper. In fact, the robot based on our approach has no knowledge of its environment but is able to perceive its neighborhood taken into account the assumption of all obstacles which are static and have different kinds of square form. In the face of a bloc of obstacle, seen as a surface, the controller make use of the solid angle, the direction and the distance measurements to compute the necessary signal that allows the robot to avoid it and continue his way to reach its final destination with optimal trajectory. Simulation result proves the effectiveness of our proposed technique in join obstacles avoidance and trajectory optimization compared to the used fuzzy in the literature.