This paper suggests a Path-planning algorithm for mobile agents. While there are a lot of studies on the path-planning for mobile agents, mathematical modeling of complex environment which constrained by spatio-temporally is very difficult and it is impossible to obtain the optimal solutions. In this paper, an optimal path-planning algorithm based on the graphic technique is presented. The working environment is divided into two areas, the one is free movable area and the other is not permissible area in which there exist obstacles and spatio-temporally constrained, and an optimal solution is obtained by using a new algorithm which is based on the well known ACO algorithm.