从多机器人队形控制的角度出发,并以组群机器人系统结构为基础,分析设计了一类多机器人协作搬运方法--时间最优搬运方法,主要解决了在被搬运物体形状未知的情况下如何寻找最优搬运点以及各机器人时问最短到达最优搬运点的路径规划问题,并证明了稳定时间最优路径规划算法(STOPP)满足队形变换时间最优且保证队形转换过程中系统内部避碰.“,”From the point of multirobot formation control, and based on architecture of swarm robot system, a kind of multirobot cooperation handling method-Time-optimal Handling Method (TOHM) was designed. Under the case of the shape of the object unknown, the method mainly solved how to find the optimal handling points and the path planning problem of the multirobot arriving at the optimal handling points with the shortest time. The collision avoidance of formation transformation by the proposed method-Stable Time-optimal Path Planning (STOPP) was proved in time-optimal conditions.