Abstract: The proposed method in the paper simulates the function connection of two control parameters (left and right wheel velocity ) of the mobile robots by two-layer BP network, and implements the trajectory control for trajectory equation being an arc of circle or ellipse. It can implement trajectory control with obstacle avoidance for multi-number or multi-layer obstacles by adjusting the long axes and short axes of the ellipse in length. The evident features of the proposed method are simple in means and are implemented easily in algorithm, so that the completion of obstacle avoidance don't lag the position change of other robots (obstacles) in the dynamic environment. The method is effectual in simulation.