中文摘要：

为提高全局路後规划的效率,在路後搜索的过程中同步构造可视图,提出了1种新的算法.在搜索过程中,使用A^＊算法确定待扩展的节点.根据节点状态,构造上一节点到当前节点或者当前节点到目标点的连线.如果该连线没有穿越障碍物,则将其添加到可视图中,否则将被穿越障碍物远离连线的2个顶点添加到待扩展列表中.仿真结果表明,与完整可视图＋A^＊算法、导向可视图（0VG）＋A^＊算法、简化可视图＋A^＊算法比较,该文算法在能够搜索到最优路後的前提下,降低了路径规划的耗时.

英文摘要：

A novel algorithm is proposed by constructing a visibility graph（ VG）in the process of path search to improve the efficiency of global path planning. In the search process, a node is selected by A^＊ algorithm for expansion. According to the status of the node,a through line from the preview node to the node or from the node to the destination is drawn. If the line is collision-free,it is added to the VG as a visible edge, or the 2 vertices of obstacles are added to the list for expansion. Simulation results show that compared with complete visibility graph＋A^＊ , oriented visibility graph（OVG） ＋A^＊ and simplified visibility graph＋A^＊,the proposed algorithm can search the optimal path and decrease the time for path planning.