针对关节式机器人提出了一种直接利用机器人世界空间几何学信息的有效的路径规划算法。该算法使用机器人周围的局部世界空间信息建立势函数，基于势函数的导数规划机器人路径。而且，针对常见的旋转关节机器人，分析了路径规划过程中的停留状态，提出了一种有效的消除势函数局部最小值的启发式方法。该算法避免了构形空间显式描述的复杂计算，在一般情况下，即使针对多自由度机器人，也能很快获得无冲突路径。最后，计算机仿真结果验证了该算法的有效性。 Aiming at articulated robot, an efficient path planning algorithm which directly uses the geometry information of robot world is proposed. The algorithm uses the local world space information around the robot to build the potential function and the robot path based on the derivative of the potential function. Furthermore, aiming at the common rotating joint robot, the state of stay in the path planning process is analyzed and an effective heuristic method to eliminate the local minimum of potential function is proposed. The algorithm avoids the complicated calculation of explicit description of the configuration space. In general, even for multi-degree-of-freedom robots, the collision-free path can be quickly obtained. Finally, computer simulation results verify the effectiveness of the algorithm.