The concepts of the blind position and the blind angle and the algorithm dealing with them are approached . the method in present research is effectively used to solve problem of path planning . 2 在提出四种不同的运动学空间描述方法的基础上，给出不同空间变量之间相互转换的求解方法，并提出路径规划中需要考虑的盲位盲角问题及其求解方法。
