研究在同一工作环境中多移动机器人的运动规划问题，提出将原来比较复杂的大系统问题转化为相对简单的子系统，由各智能机器人依据任务要求和环境变化，独立调整自身运动状态，完成任务的分布式智能决策体系结构，并给出相应的模型和算法 This paper studies the problem of motion planning for multi-mobile robots in the same working environment. It proposes to transform the original complex system problems into relatively simple sub-systems. Each intelligent robot adjusts its own motion state independently according to the task requirements and environmental changes, Distributed intelligent decision architecture, and gives the corresponding models and algorithms