Based　on　Robot＇s　intelligent　behavior　of　exploring　the　unknown　environment,　a　fuzzy　controller　is　built　to　complete　the　local　path　planning.　Because　of　walking　around　swing　and　going　into　local　minima　problems,　a　method　based　on　particle　swarm　optimization　for　fuzzy　controller　is　proposed.　The　method　utilizes　the　PSO　algorithm　to　optimize　the　threshold　of　the　fuzzy　membership　functions　thus　the　parameters　can　be　adjusted　in　different　environments.　Simulation　results　demonstrate　that　the　robot　has　the　ability　of　path　planning,　the　local　minimum　problem　is　effectively　been　solved　and　the　path　is　smoother.