Abstract: Robotic planning to find the target our goal point/s is most important subject with the minimum distance and the fastest speed with obstacle avoidance expert system has been proposed. In this paper we try to compare and consider different scenario by taking two or more moving robot figure out the short path from the initial and the final point automatically through the map of many regular and irregular obstacles. Firstly, the adaptive fuzzy expert system is present where the fuzzy rule has been adaptive recursively through the robot moving, and then the potential field algorithm has been compared with the adaptive fuzzy system, the results demonstrated that the adaptive fuzzy is faster than the potential field but the accuracy moving of the potential field robotic path planning is much better. All the algorithms were failed when two robots moving from two different initial points to one final target point the why we have proposed particle swarm optimization (PSO) algorithm to solve such problem.