避碰规划是机器人控制技术研究中的一个重要问题,目前的研究主要分为两大类:全局方法和局部方法,全局方法一般指C空间方法,局部方法一般指人工势场法。本文综述了近二十年有关这方面研究的一些较有影响的思想和方法(主要针对关节式机械臂避碰规划)。 Collision avoidance planning is an important issue in robot control technology research. The current research is mainly divided into two categories: global method and local method. Global method generally refers to C-space method, and local method generally refers to artificial potential field method. This article reviews some of the more influential ideas and approaches that have been studied in this area for nearly two decades, mainly focusing on the Articulated Robotic Collision Avoidance Program.