The presentation of the environment based on visual data is important for the mobile robot to do localization and orientation. Selection safe path for the path planning, it is necessary to locate the position of the mobile robot in surrounding environment. In this study, vision-based control system and fuzzy logic controller methods were used together to construct a collision free path environment. The experimental environment was monitored with an overhead camera and robot position information, obstacles and target positions were determined by visual processing techniques. A safe (non-collision) path plan between the robot and the target has been achieved using fuzzy decision sets. Six virtual sensor data were used to plan the robot orientation control. A graphical representation of the test results of applications made for different scenarios is demonstrated and commentated.