This article extends ideas from crowd dynamics to a navigation controller for mobile robots. Each mobile robot is considered as an agent, associated to a comfort zone with a certain radius, which creates a repulsive force when this comfort zone is violated by its environment or by another agent, therefore avoiding collisions. Meanwhile, attractive forces drive the agents from their instantaneous position to a goal position. The resulting navigation controller is tested by simulations and experiments. It is found that simulations capture the global dynamic behavior that is shown in experiments, showing robustness of the proposed navigation controller.