One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding obstacles especially in crowded and unknown environment. The path followed by a mobile robot and its behavior plays an important role in the quality of localization and mapping as well. To combat this problem, we introduced a real time and robust recursive line extraction algorithm for object based navigation. For navigation task robot can't neglect any object and laser scanner is not reliable in office environment which crystalline objects are common, so the sensor fusion is quite essential for navigation a mobile robot. In this paper we have extended our navigation approach using fuzzy controller that will take path based on extracted lines and fusing data from sonar modules. Some benefits of using fuzzy logic controller include, higher speed and smoother control command because it assigns different speeds to wheels and generate curved path instead of zigzagged path by r and commands in polar coordinate system. Furthermore, it has good real-time capability and it is implemented on NAJI V mobile search and rescue robot platform and the results show better performance in localization and mapping as well.