传统路径规划方法直接通过扫描的方式获取避障目标点，导致目标点定位精确度低，机器人避障效果差。为此，针对连续障碍环境下的移动机器人自主避障路径规划方法展开研究。在探测机器人视域范围内障碍物的基础上，判断局部避障点位置区域。选取势场最小的点作为局部目标点，根据障碍物和目标点合力的方向和大小，控制机器人避障路径方向及行进距离，从而实现机器人自主避障。与传统方法展开性能对比实验，结果表明：此方法能够提高避障路径的无碰路径长度，从而提高了机器人的移动效率。

The traditional path planning method directly obtains the punctuations for avoiding obstacles by scanning, which leads to the low target positioning accuracy and poor obstacle avoidance effect of the robot. Therefore, this paper studies the obstacle avoidance path planning method for mobile robot in continuous obstacle environment. Based on the obstacle detection in the robot's visual range, the position area of local obstacle avoidance points is judged. Then, the point with the smallest potential field is selected as the local target point. According to the direction and size of the resultant force of obstacles and target points, the path direction and travel distance of the robot to avoid obstacles are controlled, so as to achieve autonomous obstacle avoidance of the robot. Compared with the traditional method, the results show that the proposed method can improve the length of the non-collision path on the obstacle avoidance path and thus improve the robot's mobility efficiency.