In order to realize the function of automatic guidance and obstacle avoidance, the robot must perceive the guide wire and obstacles, which is equivalent to a visual function for the robot. The obstacle avoidance control system is based on the avg-auto-guide vehicle system. Based on the avg-auto-guide vehicle system, the intelligent vehicle can automatically identify the route, judge and automatically avoid the obstacles, and select the right route. Use sensors to sense routes and obstacles, make judgments and perform actions accordingly.