中文摘要：

针对未知不确定性环境下机器人路径规划的特点，提出了基于搜索双安全边缘点的实时路径规划新方法．该方法从有限的实时环境信息中搜索躲避障碍物和保证机器人到达目标点的双安全边缘点信息，并结合启发式算法，实现了基于双安全边缘点的实时路径规划．机器人的实际工作环境是十分复杂的，要求路径规划算法有较高的适应能力，特别在U型环境中要求算法能够脱离死区．仿真实验在2种U型环境和复杂环境中进行，仿真结果表明，该方法具有反应灵敏、实时性好的特点，对不确定环境具有良好的适应性，能够实现未知复杂环境下的路径规划．

英文摘要：

A new real-time path planning method was developed for mobile robots in unknown and uncertain environments. This new method first searches double safe edge points, which aids collision avoidance and works even with limited real-time environmental information, and then uses a heuristic algorithm, which can optimize the path. So real-time path planning based on searching double edges points has been realized. The real working environment of robots is complex, so this kind of ability is necessary, especially in U-shaped environments. A simulation was done in two U-shaped environments and complex environment. The results showed this new method has the characteristics of faster reaction, suitability in unknown and uncertain environments, and real-time ability to plan paths.