研究了一种基于栅格法的搜索算法，并把该算法用于机器人的路径规划。

Studied a kind of search algorithm based on grid and used in Path Planning for the robot.

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本文首先对基于栅格法和人工势场法思想的离线航迹规划算法进行了研究。

Firstly, the research of this paper is focus on preflight global planning algorithm based on cell decomposition methods and artificial potential field methods.

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第三章就地图创建问题，提出了临时局部栅格法(TLOG)，并以此改进了一种基于概率模型的栅格地图创建方法。

The third chapter based on probability grid approach's research. A modified algorithm via combining Temporal Local Occupancy Grids (TLOG) method is proposed in this thesis.

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论文基于对概率栅格法(OG)的研究分析，提出了临时局部栅格法(TLOG)，通过运用TLOG，改进了一种基于概率模型的栅格地图创建方法。

This thesis based on probability grid approach's research. A modified algorithm via combining Temporal Local Occupancy Grids (TLOG) method is proposed in this thesis.

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论文基于对概率栅格法(OG)的研究分析，提出了临时局部栅格法(TLOG)，通过运用TLOG，改进了一种基于概率模型的栅格地图创建方法。

This thesis based on probability grid approach's research. A modified algorithm via combining Temporal Local Occupancy Grids (TLOG) method is proposed in this thesis.

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