A new fast path planning method for mobile robots is presented based on nodes expanding. After introducing the concept of visibility, through improving traditional eight adjacent domain method, derivative relationship between the nodes is extended from physical adjacent to logic adjacent. Applying heuristic search algorithm D * Lite for search, the two algorithms are realized respectively in VC and compared. Simulation results show that the new algorithm shortens path length greatly and reduces execution time significantly. The algorithm can solve the mobile robot fast path planning problems.%基于栅格空间的节点扩展方式,提出了一种移动机器人快速路径规划的新方法;在引人可视性概念的基础上,通过对传统八邻域法扩展节点进行改进,成功将节点间派生关系由物理相邻引申到逻辑相邻,从而完成任意方向的节点扩展;采用启发式搜索算法D*Lite进行搜索,将应用两种扩展方式的算法在VC环境下分别实现并进行了分析比较；仿真结果表明,新算法不仅极大缩短了路径长度而且显著降低了执行时间.文章提出的算法很好地解决了移动机器人快速路径规划问题.
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