主要讨论了在不确定环境下移动机器人运动路径的在线规划算法。在此方法中,预定目标被定为吸引子,而障碍物被定为排斥子,路径规划问题就被转换为应用牛顿定理进行迭代计算的问题。这种算法计算简便,实时性强,能自动地适应工作环境中障碍物和目标的位置变化和随机出现,使机器人准确避开障碍,安全到达目的地。 This paper mainly discusses the online planning algorithm of mobile robot path in uncertain environment. In this method, the predetermined target is defined as the attractor and the obstacle as the exclusion, and the problem of path planning is transformed into the problem of applying Newton’s theorem to iteratively calculate. The algorithm is simple, real-time, and can automatically adapt to the changes of the position and the appearance of obstacles and targets in the working environment, so that the robot can accurately avoid the obstacles and reach the destination safely.