本文给出了移动机器人的虚力导航和运动规划系统．这种方法结合最小方差估计算法（ＬＭ ＳＥ）能有效地对机器人进行实时导航和避撞．在预测过程中，根据导航的不同阶段和预测误差的变化情况，采用Ｆｕｚｚｙ 规则动态地调整误差函数中的权重，使预测过程尽可能准确．导航算法的基本思想是首先通过预测算法来获得移动机器人的运动信息，然后虚力系统根据预测信息决定机器人的未来运动，仿真结果表明该方法实时性好，能准确躲避障碍物并且到达目标点 This paper presents the virtual robot navigation and motion planning system. This method, combined with LM SE, can effectively perform real-time navigation and collision avoidance on the robot. In the forecasting process, according to the different stages of navigation and the change of prediction error, fuzzy rules are used to dynamically adjust the weights in the error function to make the prediction process as accurate as possible. The basic idea of ​​the navigation algorithm is that the motion information of the mobile robot is first obtained through the prediction algorithm, and then the virtual force system determines the future motion of the robot according to the prediction information. The simulation results show that the method has good real-time performance, can accurately avoid the obstacle and reach the target point