针对运径规划这一研究的重点问题,提出了C-空间法、人工势力场法、遗传算法等。序列规划问题一般转化为旅行商问题来求解。在综合现有序列规划和路径规划方法的基础上,提出两种机器人运动规划算法:基于任意路径的运动规划算法和基于直线路径的运动规划算法,思路简单,能对各种机器人工程任务进行运动规划。 In view of the key issues of this study, the C-space method, artificial force field method and genetic algorithm are proposed. The problem of sequence planning is generally solved by the traveling salesman problem. Based on the integration of existing sequence planning and path planning methods, two robot motion planning algorithms are proposed: the motion planning algorithm based on arbitrary path and the motion planning algorithm based on linear path, which has a simple idea and can perform various robot engineering tasks planning.