If we neglect some secondary factors, the searching time and space will only be the linear functions of the optimal path.
如果忽略一些次要的因素，搜索的时间和空间仅是最佳路径的线性函数。
A kind of time optimal formation strategy is proposed, which is based on path planning and task decomposition as well as an effective algorithm for assignment problem.
针对移动机器人的最速编队问题，结合路径规划和任务分解，提出一种分派问题的新解法和时间最优的编队策略。
Through an automatic termination condition, the redundant learning after finding optimal path is avoided and the time of learning is reduced.
通过加入算法的自主学习结束条件，避免了找到最优路径后的重复学习，节省了学习时间。
But it is difficulty to expand the existing hierarchical network models and algorithms for finding optimal path problems in the stochastic and time-dependent network.
但是现有的层次网络模型和最优路径算法难以扩展到时变、随机网路中，为此本文提出了网络树模型和最优路径算法。
Simulation results show that it generates global optimal path in most situations, and is very time and space efficient thus suitable for real time applications.
仿真表明，本文算法通常都能得到全局最优路径，并且规划速度快、内存需求小，非常适合于实时应用。
Simulation results show that it generates global optimal path in most situations, and is very time and space efficient thus suitable for real time applications.
仿真表明，本文算法通常都能得到全局最优路径，并且规划速度快、内存需求小，非常适合于实时应用。
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