In this paper we propose a new approach to the autonomous wall-following of wheeled mobile robots using hybrid system reference motion synthesis and generation. The hybrid system approach is in-troduced to the motion control of nonholonomic mobile robots for the indoor navigation problems. In the dis-crete event system the discrete states are defined by the user-defined constraints and the reference mo-tion commands are specified in the abstracted motions. The hybrid control system applied for the non-holonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoid-ance for the indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation in indoor environments