The increasing interest in the collaboration between humans and machines has led to the development of collaborative robots, called cobots, both in manufacturing plants, to help the workers with their tasks, and in the medical sector, to improve the effectiveness of physical therapy. Most of these robots have to interact and move in unknown environments that are often crowded. Such operations are non-trivial, because the knowledge that the robot has about its surroundings is often limited; moreover, they require complex control strategies that work only in very specific conditions. This thesis tackles this problem with an innovative approach. A controller for a differential drive robot is designed to track and follow a target in a moving multiple-obstacles environment.