After that a totally new algorithm was adopted to develop the path planning into an unknown environment using by GP in the order of full area coverage and the obstacle avoiding automatically.
采用了一种在未知环境下机器人进行全新的路径规划算法，使智能机器人能够满足避障以及全区域覆盖。
The previous control strategy that has been adopted to solve the path planning problem of biped robot can only handle the static or predictable obstacle avoiding problems.
以往的双足机器人路径规划控制策略只能解决静止或以可预测速度运动的障碍物的越障问题。
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