针对六自由度机器人的避障问题提出了随机避障的数学模型，该模型具有简单高效且具通用性。利用MATLAB 进行模拟仿真，建立了可视化平台。模拟结果表明利用随机避障模型能够有效地实现避障。-The mathematical model of stochastic obstacle avoidance for ix-DOF robot was set up which was used widely，and it Was proved that the proposed method Was s

机器人障碍环境下路径规划问题，采用改进的回退蚁群算法，matlab版源代码，有可视化界面。-Robot obstacle environment path planning problem, using an improved back colony algorithm, matlab version of the source code, visual interface.