Abstract: The mobile robot can sense the surrounding environment，and can plan the path to reach the target point in real time， among which the obstacle avoidance problem is the focus of the research. A control scheme for path planning transformation of mobile robot in obstacle avoidance without detailed environmental information is designed.In this scheme，the robot can according to the motion tracking mode，obstacle avoidance model and robot state gradually approaching the target，using the Matlab simulation experiment in any shape obstacles as far as possible. The obstacle experiment verifies the effectiveness of the adaptive path planning control scheme is proposed.

Key words: Switch control, Motion tracking mode, Obstacle avoidance mode, Path planning, Matlab simulation

摘要： 移动机器人能够感知周围的环境，并能够实时的规划路径到达目标点，其中避碍问题是研究的热点。设计了一种在没有详细的环境信息的情况下，移动机器人避障过程中路径规划转换的控制方案，该方案机器人可以根据运动跟踪模式、避障模式及机器人状态选择逐渐逼近目标点，在尽可能出现的任何形状障碍物情况下用Matlab软件仿真实验。 实验结果表明，提出的自适应路径规划控制方案的有效性。

关键词: 切换控制, 运动跟踪模式, 避障模式, 路径规划, Matlab仿真