Abstract: In the application of ART-2 neural network, it is found that there is a characteristic of pattern drifting when processing the single-direction gradually changing patterns. On one hand,robot depends on the characteristic when moving in static environment,on the other hand,the characteristics may do harm to the safety of robot when moving in dynamic environment. To solve this problem,an improved ART-2 neural network is brought forward which make the robot suitable for moving in static environment as well as in dynamic environment safely.