In the dynamic environment, the problem of AGV(Automated Guided Vehicles) dynamic path planning is difficult to solve, and a mathematical model of dynamic environment was proposed based on velocity obstacle and the concept of risk degree for collision, also a method of AGV path planning with fuzzy neural network was given.

For the existing problems of the previous velocity obstacle methods used for dynamic collision-avoidance,corresponding improvement methods are worked out.

But in practical preparation,"speed barrier" is knotty enough because of the dash success impediments.

In speed skating movement rapid development today, the speed barrieris the athlete in the competition the universal existence question,but the speed barrier formation also is creates the speed skatingmovement not to stop the front main reason.