Abstract: This paper studies the target points optimization select and obstacle-avoiding control problem when multiple mobile robots form a team.According to the rule that maximum from recent target point is priority to get，distance matrix about the robots away from the target location is proposed，and matrix mapping is analyzed，and makes the robots fast and accurate determinating the corresponding target points.Using fuzzy control theory，fuzzy rules are developed based on human experience，the robots avoid obstacles flexiblely.The simulation results show the effectiveness of the algorithm.

Key words: mobile robot, matrix, mapping, fuzzy control

摘要： 研究了多移动机器人在组队时目标点的优化选取与避障控制问题。依据最近距离最大值优先获得目标点的规则，提出建立机器人与目标位置距离矩阵，并对矩阵进行映射分析，使机器人快速准确地确定对应目标点。采用模糊控制理论，依据经验制定模糊规则，使机器人灵活地避开障碍，仿真实验证明了算法的有效性。

关键词: 移动机器人, 矩阵, 映射, 模糊控制