研究具有空间和时间的三维动态环境下的机器人路径规划分析了四叉树表示二维空间的搜索算法,在此基础上,提出采space-time,用二叉树表示二维空间的方法时间信息中增加加速度利用二叉树遍历方法和算法设计一个在动态障碍物环境下进行路径规划的新算法并,,A*,,在足球机器人系统中进行仿真,实现了较好的路径规划。 Research on robot path planning in 3D dynamic environment with space and timeFinally, the search algorithm of quadtree representation in two-dimensional space is analyzed. On this basis, the space-time extraction method and binary tree representation in two-dimensional space are proposed Acceleration Using binary tree traversal method and algorithm to design a new algorithm for path planning under dynamic obstacle environment and simulating in a soccer robot system to achieve a better path planning.