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This paper deals with an intelligent control of an autonomous mobile robot which should move safely in an environment to find a target. We describe our approach to solve the motion-planning problem in mobile robot control using artificial neural networks technique. The algorithm constructs a collision-free path for moving robot among obstacles based on two neural networks. The first neural network is used to determine the free space needed to avoid obstacles. The second neural network is used to navigate robot into target. Simulation examples is presented at the end of the paper.