移动机器人路径规划技术的研究现状与发展趋势

路径规划技术是移动机器人技术研究中的一个重要领域。介绍了移动机器人路径规划技术的分类，综述了基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划的发展现状，指出了各种方法的优点与不足；同时分别探讨了反应式规划和慎思规划、全局规划和局部规划、传统方法和新的智能方法之间的结合状况，总结了有关路径规划技术的一些新的发展趋势。

Current Status and Future Development of Mobile Robot Path Planning and Avoidance Obstacle Technology

Path planning technology is one of the important domains in mobile robot technologies＇ research. The classifications of mobile robot path planning technology are introduced, and the current status of global path planning based on model that the environment of the robot is certain and local path planning based on model that the environment of the robot is uncertain is algorithms are pointed state between reactive overall and systematically summarized. In addition,the advantages and disadvantages of these out. Some new trends of path planning technology are indicated through discussing the combination planning and deliberate planning,global planning and local planning, traditional methods and new intellective means. At last, the trend of mobile robot path planning is described.