In order to improve the ability of obstacle avoiding of the wheel-tracked exploration robot

three ultrasonic sensors are fixed on the front and the sides of the bodywork.And the obstacle avoiding model is established.The least square method is used to fit the data from three directions.By basic obstacle avoiding behavior and target approaching behavior

corresponding fuzzy controlling method is designed.The simulation environment is established by VisuaC++

and the fuzzy controller is also established by Matlab

then by the interface between them

the obstacle avoiding course can be showed in real-time.The simulation results indicate that the wheel-tracked exploration robot can turn flexibly and avoid obstacles neatly

and it can also reach the target successfully.