For the data of image sonar from experiment on the sea, dada was modeled by grids, disposed by mathematics morphology. The path was planed in small region by Dt propagation method.

• 针对海上试验实际情况，以前视声纳为避碰传感器，以栅格法建模，以数学形态学的方法处理收到数据，以Dt值传递法进行了小范围内的两个机器人避碰规划。