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本文针对非结构环境下移动障碍物运动的不确定性，采用概率方法进行移动机器人实时运动规划。障碍物的速度和方向角在某一时刻认为是随机变量，通过最优化方法解出机器人沿预定路径连续运动并避障所需的加速度及其持续时间。
In this paper, the uncertainty of moving obstacle in unstructured environment is studied. Probabilistic method is used to plan real-time motion of mobile robot. The speed and direction angle of the obstacle are regarded as random variables at a certain moment. The optimal method is used to solve the continuous acceleration of the robot along a predetermined path and avoid the required acceleration and its duration.