Aiming at the robustness of the robot rolling path planning when static and dynamic obstacles coexisted in the environment

a robot path planning algorithm is proposed by defining the location of local sub-goal.Robot red time detects the local environmental information based on rolling windows to find and identify the location of the local sub-goal and make the next safe path planning.The robot repeats the process and safely reachs the target point along an optimal path in the end.Simulation result shows that the algorithm can make the robot to avoid obstacles safely along the optimal path and reach the target point.