为解决未知环境下移动机器人的实时路径规划问题,提高路径的综合性能,采用多约束局部环境建模方法,综合考虑了各行进方向上的可通行性、安全性、运动平稳性和目标引导性等因素;在环境建模基础上,将Bug算法与基于滚动窗口的路径规划相结合,提出一种改进的路径规划算法,该算法为机器人设计了趋向目标行为和克服局部极小的沿墙行走行为,其滚动窗口的大小能够根据环境进行自适应动态调整.仿真结果表明,提出的环境建模及路径规划方法具有较好的避障能力和环境适应性. In order to solve the problem of real-time path planning for mobile robots in unknown environment and to improve the comprehensive performance of the path, a multi-constrained local environment modeling method is used to consider the feasibility, security, motion smoothness and target guidance of each moving direction And other factors. Based on the environment modeling, a combination of Bug algorithm and path planning based on rolling window is proposed. An improved path planning algorithm is proposed for the robot to move toward the target and to overcome the local minimum Behavior, the size of its rolling window can be adaptively adjusted dynamically according to the environment.The simulation results show that the proposed environment modeling and path planning method have better obstacle avoidance ability and environment adaptability.