According to the relationship of the scanning scope of robots , the local range of robot motion planning , and the safety distance in an ideal state , it discusses the prohibiting area and the potential collision area in the moving courses of the robots 根據(jù)理想狀態(tài)下機(jī)器人的掃描范圍、機(jī)器人規(guī)劃的局部范圍、安全距離之間的關(guān)系探討了機(jī)器人運(yùn)動過程中的禁入?yún)^(qū)、潛在的碰撞區(qū)。