中文摘要：

未知环境中自主机器人合理的路径规划是进行探索任务的前提.传统的路径规划方法侧重于研究从起始点到目标点的无碰路径,很少考虑机器人自身运动的平稳性.研究了室外未知环境中考虑机器人姿态稳定性以及能量损耗的路径规划方法,该方法分3步：①梯度计算,计算运动区域的梯度;②节点探测,运动区域被划分为平坦区域和非平坦区域,辨识每个平坦区域的中心位置,即节点;③路径评估,根据提出的评估函数,规划出从当前位置经过中间节点到目标点的最优路径.通过和传统规划方法获得的路径比较,仿真验证了所提方法的有效性.

英文摘要：

Suitable path planning is precondition of autonomous robot exploration in unknown complex environments.Traditional path planning methods focus particularly on planning an un-colliding path from the start position to the goal and robot attitude stability is seldom considered.A new path planning approach considering robot＇ s attitude stability and energy consumed in outdoor complex environment is proposed,which consists of three steps：（1） gradient calculation,gradients of the rough terrain are calculated ; （2） node detection,terrain is divided into flat regions and rough regions according to height threshold ; central position of each flat region is recognized as the node; （3） path evaluation,the optimal path from current position to destination through intermediate nodes is planned based on the cost evaluation function.Compared with the conventional approach,the effectiveness of the proposed method is demonstrated through simulations.