Abstract: The sole use of reactive navigation algorithm may result in a "shortsighted phenomenon".Therefore,an active routing navigation strategy based on behavior and virtual intermediate goal is designed for mobile robot.Visible point path finding method is modified to search the optimal virtual intermediate goal for mobile robot to follow in the local detection area,and then the behavior decision tree is used for rapid decision-making.Robot can smoothly reach the goal based on the arc trajectory movement control and avoid obstacles flexibly as human-being.Simulation results show the feasibility and effectiveness of the proposed strategy.