根据自行设计的两轮独立驱动的微小型移动机器人的特点 ,利用增强式的学习方法 ,对输入量进行分层模糊化以确定模糊区域 ,然后选取相应区域中具有重大适应值的动作控制机器人移动 ,得到了该机器人在无约束空间中时间优化的移动路径 ,实现了该移动路径的自动获取 ,仿真和实验均得到了满意的结果 According to the characteristics of self-designed two-wheeled, independently driven micro-mobile robot, an enhanced learning method is used to stratify the input quantity to determine the fuzzy area, and then select the motion with significant fitness in the corresponding area to control the movement of the robot , The time-optimized moving path of the robot in unconstrained space is obtained, and the automatic acquisition of the moving path is realized. Simulations and experiments are satisfactory