It　is　proposed　that　under　the　prescribed　conditions,　the　obstacle　spree　is　simplified　by　the　minimum　outer　ball　method,　and　the　robot　end　ensures　that　the　speed　acceleration　reaches　the　five　target　points　in　the　working　surface　under　the　continuous　conditions　of　the　operating　conditions,　and　compares　the　shortest　distance　of　the　track　line　to　the　track　point　of　the　simplified　post-center　point　to　avoid　touching,　And　change　the　parameters　when　intersecting　the　obstacle　to　re-plan　the　trajectory.　©　2019　IEEE.