目的 为了更好地规划出最优可行路径。方法 采用三层规划模型（TLP）改进的三维实时路径规划算法，首先从AGV的控制性能入手，基于现实场景的多重约束设定威胁等级函数，利用TLP和改进RRT优化算法规划出更加平滑的最优路径。结果 目标函数及TLP的决策变量可以确保AGV准确到达目标位置。结论 实验结果表明，所提算法具有更好的效率与效果。

The work aims to plan the optimal feasible path better. An improved three-dimensional real-time path planning algorithm based on three-level programming model (TLP) was proposed. Firstly, starting from the control performance of AGV, the threat level function was set by multiple constraints based on real scene, and a smoother optimal path was planned with TLP and improved RRT optimization algorithm. The objective function and the decision variables of TLP could ensure that AGV reached the target location accurately. Experimental results show that the proposed algorithm has better efficiency and effectiveness.