中文摘要：

针对传统人工势场法在路径规划中容易出现局部极小点、障碍物前抖动、路径非最优等问题，提出了一种新的基于双层递阶模糊系统的人工势场法移动机器人路径规划方法．此方法通过一阶模糊系统来调整人工势场中斥力函数的斥力增益系数，使斥力的大小实时随环境的改变而改变；通过二阶模糊系统来改变斥力的方向，进而改变合力信息．仿真实验结果表明：该方法能使机器人快速地摆脱局部最小点，避免障碍物前抖动，并且达到优化路径的目的．

英文摘要：

In view of the problems of a local minimum point value,oscillation in front of a barrier and non optimal path inpath planning in traditional artificial potential field,a new robot path planning of artificial potential field methodis presented based on double-deck hierarchical fuzzy system. A repulsive gain factor is introduced to improve therepulsive potential function by the first level fuzzy logical system,then the repulsive force function is improvedwith the changed environment. The repulsive force vector is adjusted to optimizing the robot path,which isadjusted by the second level fuzzy logical system. The simulation results show that the proposed method can solvethe local minimum problem effectively,avoid oscillation,and plan a smooth path successfully.