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This paper proposes an optimal obstacle avoidance and trajectory tracking method based on data-driven control algorithm. While an agent avoids obstacles, researchers always consider how to avoid the obstacles, but not consider how to avoid the obstacles in the minimum time, and how to achieve the optimal avoidance control. The major of the paper is to utilize the data-driven control method to design the trajectory tracking controller and to look for the optimal obstacle avoidance path of the mobile agent. In order to realize the data-driven control, the unfalsified control theory is introduced. The unfalsified control only uses the datum obtains the optimal controller parameters. The simulation results demonstrate the effectiveness of proposed approach.