一种多移动机器人运动规划的混合式方法

基于多移动机器人运动的集中式规划法和分布式规划法，提出将两种方法结合使用进行多移动机器人运动规划的混合式方法。此法宏观上采用集中式规划法进行规划任务总体分配，执行则引用分布式规划法加以实现。通过分析表明了这种方法解决了集中式运动规划法响应速度慢和分布式规划法难以求得规划最优解的不足。

A mixed path planing approach for multi-mobile robots

On the basis of centralized path-planning approach and distributed ones, an approach mixed the centralized and the distributed was put forward. This approach adopt the centralized to assign mission to every robot in macrostructure, the assigned mission of every robot should be accomplished by itself in the distributed. The approach analyzed on the basis of theory can solve the disadvantage that the centralize d respond slowly and the disadvantage that distributed cant find the best or a better planning for multi-mobile robots.