采用栅格法建立机器人空间模型，整个系统由全局路径规划和局部避碰规划两部分组成。
The whole system includes two parts, the global path planning and the local planning for obstacle avoidance.
采用栅格法建立了机器人工作空间模型，整个系统由全局路径规划和局部避碰规划两部分组成。
The whole system includes two parts: the global path planning and the local planning for obstacle avoidance.
整个避碰规划系统包括声纳探测目标、目标跟踪、特征信息提取、目标运动估计、避碰算法等部分。
The system includes such modules as obstacle detection by FLS, tracking, motion estimation and planning algorithms.
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