Abstract:To put forward a comprehensive cleaning robot obstacle avoidance scheme, on the basis of solid obstruction of traditional road environment to join liquid obstacles on the road, this paper designed the fuzzy controller, through environmental information detected five set of sensors, to avoid this solid obstruction of the front-left, front-right, left and right side, remove liquid barrier, and achieve the comprehensive effect of obstacle avoidance. The effect has been verified through MATALAB simulation experiment.