Soon robots will cooperate with humans in everyday tasks. These robots must be endowed with social skills so that their behavior will be similar to that of people. One of these behaviors is navigation: how the robot plans the route and moves through ubicomp environments. For example, a social behavior during navigation consists of detecting the position of people and evaluating with proxemics those areas where the robot can move and with what velocity. This work presents a new controller for the following ability of a socially aware person. The robot is equipped with RGB-D and laser sensors and navigates through an ubicomp environment that provides the person’s position at every moment. The system initially estimates the person’s position and its interaction regions at a future instant and then adjusts its path and velocity based on this estimate. Experimental results in simulated environments are included and discussed as initial results to show the performance of this proposal. We include a set of social metrics to validate the proposed results.