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 simple and effective．Throush simulation using MATLAB，a visual plat Was established．

The simulation result shows it is effective to realize the obstacle avoidance with the model．