机器人路径规划是指按照一定的寻优策略规划出从起始位置到目的地的尽可能最优的无碰路径。路径规划技术分为传统方法和启发式方法两大类。综述了多种启发式方法在机器人路径规划优化领域的研究现状, 分析了不同算法的性能和适应场景；此外, 考虑到人工势场法在路径规划中所表现的优良品质, 也研究了其最新技术进展。最后对比分析了各种算法的优缺点, 指出方法的深度融合应是路径规划技术的未来发展方向。

Path planning of robot refers to the planning of an optimal collision-free path from the starting position to destination according to a certain optimization strategy.There are two suggested techniques covering all approaches in robot path planning:the traditional method and the heuristic method.This paper reviews the research status of different heuristic approaches in robot path planning and optimization, and then analyzes the performance and applicable scenarios of different algorithms.In addition, the latest technological progresses are also presented considering the superior quality of the artificial potential field method in the path planning.Finally, the advantages and disadvantages of various algorithms are analyzed, and it is proposed that the deep integration of the algorithms should be the future direction of the path planning technology.