在导航系统中，全局路径规划采用改进动态规划算法。
So it's real good path planning method for the multiple robots system.
改进了传统的树匹配和动态规划算法。
Improved on the traditional tree matching with dynamic programming algorithm.
然后结合动态规划的基本原理，改进了算法的步长，从而得到了求解该问题的优化的动态规划算法。
Then a new algorithm based on dynamic programming is proposed through improving the step-length. Finally, the complexity of the algorithm is analyzed.
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