为了提高井下救灾机器人的搜救效率,减少救援时间,提出了一种结合共轭梯度和粒子群算法的救灾机器人路径规划算法CGPSO。共轭梯度算法规划出起点到终点的最短路径;去除路径中在障碍物内的点,采用粒子群算法重新规划该子路径。仿真实验表明该算法可以有效地提高粒子群的规划效率和可靠性。 In order to improve search and rescue efficiency and reduce rescue time, a CGPSO algorithm based on conjugate gradient and particle swarm optimization is proposed. The conjugate gradient algorithm is used to plan the shortest path from the starting point to the ending point. The particle paths in the path are removed by particle swarm optimization. Simulation results show that this algorithm can effectively improve the planning efficiency and reliability of particle swarm optimization.