中文摘要：

针对机器人在未知环境中需要进行路径规划，提出了障碍物影响系数的概念，设计了一个结合全局环境信息和机器人局部探测信息的综合评价函数来确定机器人的下一步运动位置，从而使机器人可以无碰撞和较快地到达目标点．障碍物影响系数的添加改善并拓展了全局规划的适用性，使机器人可以在未知环境中进行路径规划，并通过几个仿真实验验证了该规划方法的可行性．

英文摘要：

Being aimed at different robot tasks in which path planning is necessary in the unknown environments, a new concept of obstacle influence factor is proposed according to the real-time robotic exploration result. Based on that, an evaluation function is designed by integrating the global environment information and the local sensor information to choose the next position. With that function the robot can reach the target quickly without collision. The addition of the obstacle influence factor improves the applicability of the distance based global planning method and extends the planning method to the unknown environments. Several simulation experiments are carried out to verify the feasibility of the proposed planning method.