近年来,基于专家系统的机器人规划方法取得了很好的成果。本文在阅读了大量文献资料的基础上,对基于专家系统的机器人规划理论及其在不同层次的机器人规划中的应用做了一个比较全面的总结。重点论述了基于专家系统的机器人规划理论和系统结构,同时阐述了该理论如何与机器学习相结合,并提出了一些设想和展望。 In recent years, expert-based robot planning has achieved very good results. Based on a large amount of literatures, this paper gives a comprehensive summary of robot planning theory based on expert system and its application in different levels of robot planning. The robot planning theory and system structure based on expert system are discussed emphatically. At the same time, the paper expounds how the theory is combined with machine learning and puts forward some ideas and prospects.