In this paper, we present a navigation strategy exclusively designed for social robots with limited sensors for applications in homes. The overall system integrates a reactive design based on subsumption architecture and a knowledge system with learning capabilities. The component of the system includes several modules, such as doorway detection and room localization via convolutional neural network (CNN), avoiding obstacles via reinforcement learning, passing the doorway via Canny edge’s detection, building an abstract map called a Directional Semantic Topological Map (DST-Map) within the knowledge system, and other predefined layers within the subsumption architecture. The individual modules and the overall system are evaluated in a virtual environment using Webots simulator.