Here, as a first step in the study of navigation in complex media, we study the ability of a moving cell to navigate between obstacles. needed by the cell so as to find its way under environmental constraints. We do so by using a simulated amoeboid, crawling in different environments according to an external signal. We first study the characteristics of free motion in a chemoattractant gradient, then turn to the effects of obstacles in the medium, and finally to the more challenging case of navigation in a maze. In the case of a maze, motion according to the local OTX015 Epigenetic Reader Domain inhibitor chemical direction can cause the cell to become trapped by the maze walls. When this occurs, the cell needs to retrace its steps, moving away from the optimal chemical direction, in order to find a new pathway and resume its motion towards the target. We demonstrate that memory-less navigation yields very low success rates, and that in most cases the cell becomes stuck in a maze corner or dead end, and cannot reach its goal. We then show that a simple memory effect mediated by a chemical marker secreted and detected by the cell, can lead to much higher success rates. We propose to term this type of behavior assisted navigation since the cell by virtue of the marker emission is able to recognize that it is trapped and thereby alter its behavior so as to assist itself in trying to escape. We hypothesize that navigation based on this type of mechanism is a likely possibility for chemotaxis in complex environments; this can obviously be tested in, for example, microfluidics devices where flow can be used to interfere with marking strategies. Finally, this finding provides insights into needed components for successful robotic motion planning. Amoeboids, unlike bacteria, can directly detect spatial gradients in chemical concentration, responding to as low as a 2% difference in concentration between the cell front and back. Chemotaxis, i.e. motion according to the gradient direction, is then achieved by sending out membrane protrusions, with a typical life time. Pseudopods are mostly created in the leading edge of the cell, but some pseudopods may emerge also from the sides, depending on the gradient strength and cell polarization. The overall cellular motion is achieved by retraction of the cell‘s rear towards the advancing front. Pseudopods typically exhibit complex behavior of bifurcation and retraction, with some periodicity of right-left split directions. The formation of pseudopods is accompanied by accumulation of various effectors on the membrane, in the form of with limited lifetime. These patches were shown to spatially correlate with the location of pseudopods. Genetic studies have verified that these effectors are controlled by the external chemical signal and in turn are responsible for activating the machinery that drives the extensional dynamics.