This paper presents a novel fuzzy-neural control algorithm to realize obstacle avoidance of a mobile robot. A heuristic fuzzy-neural network is developed based on heuristic fuzzy rules and the Kohonen clustering network. By applying the off-line and unsupervised training method to this network, the pattern mapping relation between ultrasonic sensory input and velocity command is established. This paper describes mechanical design of the mobile robot, the arrangement of ultrasonic sensors, the obstacle avoidance system based on FKCN, classification of obstacle, the control algorithm for obstacle avoidance and training data library. In order to verify the effectiveness of this algorithm, we give the results of simulation in a computer virtual environment.