提出采用二叉树表示二维空间的方法，对全局路径规划和局部路径规划进行综合考虑，设计移动机器人在复杂环境下对动态障碍物进行避障的A^*算法。在足球机器人系统中进行仿真，将二叉树动态地表示球场的机器人与目标为对角线的矩型环境，使搜索范围随搜索进程动态地减小，实现了路径规划的整体优化。

This paper deals with a way of representing dynamic environment based on binary-tree. A new algorithm A^* , which plans the path of soccer robots in complicated environments is presented. With the soccer game's environments represented by dynamic binary-tree, optimal results were obtained in a simulation of the soccer game.