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1、AbstractWiththedevelopmentofartificialintelligence，theapplicationofrobots(suchas"Industrial，agricultural，medical，aerospace．etc．)ismoreandmorewidelyinmodemliferecently．Pathplanningisthemostbasicpartfortherobotstoimplementalloperations，whoseessenceistofinda
2、path，whichissatisfiedsomecertaincriteriaa11dh2Lsnocollisionwithallobstaclesfromthestarttotheend，intheenvironmentfullofobstaclesaccordingtosomecriteria(suchas：theshortestpath，lesstimeconsuming，securityandSOon)．Inthistask，thisproblemisdiscussedfromthefollow
3、ingaspects：(1)Environmentofoptimization：Generally，theenvironmentforpathplanningusuallycontainsstaticenvironmentanddynamicenvironment．Staticenvironmentdescribesthatobstaclesdon’tchangewithtime，whileobstaclesvarywiththechangeoftimeindynamicenvironment．Thist
4、askisbasedonthebasistostudythegeneralprocessofpathplanningunderstaticenvironment·(2)Processofproblems：Thereisalwaysnotonlyaoptimizedcriterionforpathplanningproblemsandsecurityandtheshortestpathareregardedasmaincriteriawinthistopic．ThesetwocriteriaCanbetak
5、enasawholeobjective，whichisatotalpenaltyfunctiontoevaluatetheproblem．Inthepreviouslywork，astaticpenaltyfunctionisusedtodescribetheproblem，whiledynamicconstraintmethodsareemployedtoovercomethedrawbackofstaticpenaltyfunctioninlaterperiod．0ntlleotherhand，mul
6、ti．objectiveoptimizationisappliedtodeal、析ththiskindofproblemformorethanoneevaluation．Becausesecurityandtheshortestpatharecontradictoryandcall’tbesatisfiedatthesametime，somemethodsshouldbeproposedtomeetthedemandofdifferentusers，sothesecriteriaareregardedas
7、multi-objectiveprobleminlaterperiodwork．Multi．objectiveoptimizationcouldoptimizeafewobjectivessimultaneouslyandCoordinatethesegoals，andthealgorithmwillgenerateagroupofParetooptimalsolutionseverytimeforthedesigner，SOusercarlselectthesuitablesolutionsaccord
8、ingtotheirneedforcriteria．IIIAbslract(3)Selectionofcurve：Toensurethegeneratedpathsmoothnessiscriticalconditionintheprocessofduringtherobotnavigationforpathplanning．Mostofresearchersareconcentratedonfmdingtheshortest
