主要讨论了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。这样 ,路径规划就转换为应用牛顿定理进行迭代计算。该算法简便 ,实时性强 ,能自动地适应工作环境中障碍物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。实验结果表明 ,此算法效果良好。 This paper mainly discusses the online planning algorithm of mobile robot’s moving path in uncertain environment. In this method, a predetermined target is set as an attractor and an obstacle is set as a repulsion. In this way, the path planning is converted to iterative computation using Newton’s theorem. The algorithm is simple, real-time, and can automatically adapt to changes in the position of obstacles in the work environment and appear randomly, so that the robot can accurately avoid the obstacles and reach the destination safely. Experimental results show that this algorithm works well.