中文摘要：

局部路径规划是移动机器人的一项关键技术,它的品质密切关系到整个机器人系统的性能。动态窗口法是一种在机器人的速度空间内进行运动规划的自主避障算法。将该算法与阿克曼机器人相结合,提出了一个包含轨迹曲率相似度评价因子的阿克曼移动机器人局部路径规划算法。最后,在机器人操作系统（Robot Operating System,ROS）上对该新算法进行了＂S＂型路径导航仿真实验。实验结果表明,该算法能在已知栅格地图内实现阿克曼机器人的自主避障功能。

英文摘要：

Local path planning is a key technology of mobile robots,and its quality is closely related to the performance of the whole robot system.The Dynamic Window Approach（DWA） is a respective collision avoidance algorithm performing the motion plan in the velocity space of robots.Incorporating the Ackermann robots with DWA in this paper,we propose a local path planning algorithm for the Ackermann mobile robots including a curvature similarity evaluation factor of trajectories.At last,we perform a simulation experiment traveling a S shape path to verify the new algorithm in the Robot Operating System（ROS）.The results of the experiment show that the algorithm proposed in this paper performs successfully a autonomous collision avoidance function in a known grid map.