研究了改进人工势场法，发现该方法并不能完全解决局部极小点问题。
By studying the improved potential field function method, it is found that the method couldn't solve all local minimum problems.
在路径规划中应用了改进人工势场法并对其进行了仿真试验，结果表明其算法对于机器人的避碰有了可观的改善。
The improvement artificial potential field law in the way plan was applied and simulated, and finally results indicated this algorithm considerably improved the robot avoiding collision.
对于运动规划层，提出了一种用于动态环境下的改进的人工势场法。
To solve the problem of the motion planning, a kind of improved artificial potential field method applied in the dynamic environment is proposed.
接着对基于图论和人工势场法的多机器人群集控制方法进行了改进，使之能够使多机器人在群集运动的同时形成预定的队形，然后对改进的方法证明了其稳定性。
The flocking control based on graph theory and APF is improve to make the multiple robots reach a desired formation, at the same time the stability of the improved method has been proved.
接着对基于图论和人工势场法的多机器人群集控制方法进行了改进，使之能够使多机器人在群集运动的同时形成预定的队形，然后对改进的方法证明了其稳定性。
The flocking control based on graph theory and APF is improve to make the multiple robots reach a desired formation, at the same time the stability of the improved method has been proved.
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