In order to improve the speed and accuracy of targets while avoiding the opponent's riposte, this paper presents a method approach to robot trajectory planning which based on Lie algebra and on the background of a high degree of competitive against offensive and defensive network robot system (TLS). There are some key limitations in the Lie algebra planning process: 1.Vision limitations, to maintain the target in one's own camera's field of vision;2.Limitations of avoiding the robot hitting to vital parts from enemy while attacking;3.Kinematic constraints, to make robot avoid reaching the kinematic areas. Meanwhile, it uses the image-based visual servo tracking targets to meet the needs of attack and defense.

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