In this paper, an obstacle avoidance method for wheeled mobile robots is proposed, based on selection of the local target points of robot's movement called "via-points" which are defined in a navigation space, generated by taking into consideration a smooth robot motion. The proposed algorithm utilizes a fuzzy multi-attribute decision-making method in which three fuzzy goals are defined to achieve successful robot navigation by deciding the via-point the robot would proceed at each control step. Via-point is defined as the local target point of a robot's movement at each decision instance. Three fuzzy goals to achieve successful robot navigation are defined. At each decision step, a set of the candidates of a next via-point in a 2D navigation space is constructed by combining various heading angles and velocities. Given the fuzzy goals, the fuzzy decision making enables the robot to choose the best via-point among the candidates. An efficient scheme for local minimum recovery from trapped-in situation is also provided. A series of simulations has been performed to study the effects of associated navigation parameters on the navigation performances. The method has been implemented on an actual mobile robot and experimented in real environments. Results from a series of simulations and experiments conducted in real environments show the validity and effectiveness of the proposed navigation method.