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研究多移动机器人的实时运动规划问题，提出了运动规划问题的体系结构，并将最优控制与智能决策相结合，建立实时专家系统，在其支持下，使机器人在时间—能量最优情况下完成规划策略。仿真结果表明该方法具有很强的实时性。
The problem of real-time motion planning of multi-mobile robot is studied. The architecture of motion planning problem is proposed. The optimal control and intelligent decision-making are combined to establish a real-time expert system. With its support, the robot is optimized in time-energy Complete the planning strategy. Simulation results show that the method has strong real-time performance.