【摘要】 本文针对移动机器人作业环境中存在大量未知障碍，而其传感器探测范围有限的特点，采用Ｖ距离势场，通过势场的局部增量修改，实现实时滚动路径规划，并通过仿真说明了其有效性更多还原

【Abstract】 In this paper, a new potential field (V distance field) is presented based on which some novel rolling path planning algorithms are proposed for sensor equipped mobile robot moving in environment full of unknown and even moving obstacles. The effectiveness of the algorithms are also demonstrated by simulation examples.更多还原