该算法主要由栅格形状，图搜索，局部规划器，栅格分解，栅格抽样等部分组成。
The algorithm consists of Cell Shape, Graph Search, Local Path Planning, Cell Splitting, Probabilistic Sampling.
首先介绍了自行研制的智能水下机器人的系统组成，然后讨论了其规划方法，并着重介绍了体现水下智能机器人自主能力的全局规划器和局部规划器。
Frist, the constitution of AUV system is presented. Next, path planning method of AUV is discussed. Global and local path planner that shows the autonomous ability is especially introduced.
讨论了基于案例的学习方法在月球探测器局部路径规划中的应用问题。
This paper presents a mobile robot part path planning scheme using case-based learning algorithm.
结合拱泥机器人的整体结构和运动特点，分析了拱泥机器人的控制策略，并设计了拱泥机器人的局部路径规划器。
Combined with the overall mechanism and movement characteristic, the control strategy of move-in-mud robot is analysed, and the local path planning is designed.
讨论了基于案例的学习方法在月球探测器局部路径规划中的应用问题。
This paper presents a mobile robot part path planning scheme using case-based learning algorithm. Case-based learning is relatively a new approach to path planning.
第四章针对第三章提出算法的缺点，排出不确定传感器信息的影响，试验一种随机规划与局部路径规划相结合的混合路径规划方法。
Chapter 4, according to the shortage of the algorithm provided in the chapter 3 and removing the influence of unsureness sensors information, a feasible mixed approach of path planning is discussed.
第四章针对第三章提出算法的缺点，排出不确定传感器信息的影响，试验一种随机规划与局部路径规划相结合的混合路径规划方法。
Chapter 4, according to the shortage of the algorithm provided in the chapter 3 and removing the influence of unsureness sensors information, a feasible mixed approach of path planning is discussed.
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