运用模糊控制规则及AFS模糊公理集，对系统状态进行状态回归控制- Based on the theory of axiomatic fuzzy set, we summarize the　　　　　　　　　cluster method of fuzzy concept semantic and fuzzy logic operation through imitating the clustering process of human brain. This algorithm can apply to robot to enhance its level and speed on avoiding obstacles and path planning.