机器人行走空间的复杂性决定了导航监控系统不仅为机器人提供行走路线,还要依据预先得到的先验数据与知识告诉机器人不同行走段的障碍分布、环境边界走向及约束程度,按照载体的几何形状,运动特性选择合适的速度、加速度,保证在安全的前提下最快完成行走.本文讨论了提取影响机器人当前行走的障碍、环境边界算法和不同行走速度段的划分与关键点抽取方法,讨论了各种速度段的分离、合并、高速行走段的插补和过短行走段的平滑滤除等等. The complexity of walking space of the robot determines that the navigation and monitoring system not only provides the walking route for the robot, but also tells the robot according to the priori data and knowledge about the obstacle distribution, the boundary of the environmental boundary and the degree of constraint of the robot according to the geometry of the carrier , The movement characteristic chooses the suitable speed, the acceleration, guarantees the quickest walk under the safe premise.This article discussed to extract the barrier which affects the robot to walk at present, the environmental boundary algorithm and the different walking speed section division and the key point extraction method, discussed Separation of various speed segments, merging, high-speed walking section of the interpolation and short walking section smooth filter and so on.