This paper proposes a MUlti-level Fusion Architecture (MUFA) for controlling the navigation of a tele-commanded Autonomous Guided Vehicle (AGV). The architecture combines ideas derived from the fundamental concepts of sensor fusion and distributed intelligence. The focus of the work is the development of an intelligent navigation system for a tricycle drive AGV with the ability to move autonomously within any office enviromnent, following instructions issued by client stations connected to the office network and reacting accordingly to different situations found in the real world. The modules which integrate the MUFA architecture are discussed and results of some simulation experiments are presented.