Abstract: Obstacles avoiding is the difficult problem of autonomous robot in dynamic environment.Firstly，the model of environment including robot，obstacles and target are established and given.Then humanoid strategies of walking are analyzed and formulated into Virtual Force Field（VFF） algorithm.In order to deal with moving obstacles，the adjacent smoothing method is used in accumulation computing of Confirmation Factors（CF） which mean the degree of grid being obstacle.The radius of adjacent area is designed to be relevant to the obstacle moving speed.Uncertain reasoning is adopted for computing complex CF with uncertain of environment and sensors signal，and synthesize method is designed for multi-sensors detecting obstacles.When target is out robot sensor workspace，the attraction force computing formula using direction parameters is given.The weight varying with angle from robot moving direction to obstacles is designed，and used to make robot more sensitivity to obstacles on moving way like human.In order to walk out local minima point，the virtual target is used，which is obtained by temporal changing target direction.Indoor and outdoor virtual environment are established on MobotSim，and the algorithm proposed is programmed using Basic.The simulation tests are finished and analyzed.The given results demonstrate the feasibility and effectiveness of proposed method.The route of robot is better by VFF with humanoid strategy than common VFF.