The aim of the work presented in this paper is to develop a navigation system that allows a mobile robot to move autonomously in an indoor environment using perceptions of multiple events. A topological navigation system based on events, that imitates human navigation by using sensorimotor abilities and sensorial events, is presented. The increasing interest in building autonomous mobile systems, makes the detection and recognition of perceptions a crucial task. The system proposed can be consider a Perceptive Navigation system as the navigation process is based on perception and recognition of natural and artificial landmarks, among others. Theinnovationofthisworkresidesintheuseofanintegrationinterfacetohandlemultipleeventsconcurrently,leadingto a more complete and advanced navigation system. The developed architecture enhances the integration of new elements due to its modularity and the decoupling between modules. Finally, experiments have been carried out in several mobile robots, their results show the feasibility of the navigation system proposed and the effectiveness of the sensorial data integration managed as events.