The robot path planning under unknown plane environments is reviewed from an energy-consuming viewpoint, and a novel path planning algorithm based on the local minimum energy is proposed.

从移动机器人运动能量损耗的角度对移动机器人全局环境未知时的路径规划问题进行了探索，提出了一种新的基于局部最小能量的路径规划算法。

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Based on the minimum path error interpolation method, a new circular interpolation algorithm is proposed, which is simple and effective to perform, together with a positive deviation.

基于最小偏差插补算法的基本思想，提出了一种新的圆弧插补递推算法，该方法算法简单，执行速度快，且具有正偏差特性。

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The new protocol finds the path to the cluster head with the minimum cost, using an algorithm similar to flooding to propagate the cost information and greedy algorithm to find the lowest cost link;

节点根据能量消耗的代价来选择至簇头的路由，通过扩散算法来广播代价消息，采用贪婪算法来选择能量消耗最小的路径；

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