：为提高移动机器人在未知环境下避障行为的成功率，通过对障碍物信息的输人，从控制输出数据中找出避

障行为模式，生成相应的模糊逻辑控制规则，并把模糊控制算法引入到神经网络中，使得模糊控制器规则的在线精

度和神经网络的学习速度均有较大的提高，使移动机器人具有较为迅速的反应能力，实现机器人连续、快速地避障

并最终到达目标．系统仿真证明了模糊神经网络在移动机器人路径选择中的智能性．-To enable the mobile robot in unknown environment obstacle—avoiding behavior of

Success，based on the information input of obstacles and from the control of output data to find a

obstacle—avoiding behavior model，and To create the fuzzy logic rules，a fuzzy control algorithm is

introduced to the neural network，allowing mobile robot more rapid response ability and to

achieve a robot， and finally reach the target of obstacle avoidance． system sim ulation proves a

fuzzy neural network in mobile robot path choice of intelligence．