Abstract: Through the research on the passing-ball route searching in the real-time dynamic environment of multi-agent systems (i.e.,robot soccer),the concept of the running range related to the control regions of the players of each team and its computation method are put forward in this paper. The problem of passing-ball route searching in case of large searching space is solved with genetic algorithm. Experimental and match results indicates that this method can effectively solve the problem of passing-ball route searching under the real-time dynamic circumstance of robot soccer.