中文摘要：

针对移动机器人探测环境的建模，基于栅格空间的扩展方式，提出了DEM可通行范围获取以及通行代价的计算方法；在D＊Lite算法基础上加入可视检测，定义了将点和点之间逻辑相邻的关系，做到对每个节点的代价削减；此外，对启发函数对路径搜索产生的影响进行了分析，并在VC环境下进行了仿真；从仿真实验结果来看，启发函数的选取对搜索的效率和最优性有较大的影响。

英文摘要：

This paper describe the way of establishing environment model, the accessible aera and the cost of travelling is obtained. The visible detecting is added to the D ＊ Lite algorithm, derivative relationship between the nodes to logic adjacent, to make the cost reduction of every node. Moreover, improved the heuristic function, and completed the simulation in VC environment. From the results of the simula- tion, the selection of heuristic function to search the efficiency and the optimal have a major influence.