The paper presents a new approach, which is called dynamic priority scheduling based on total potential reduction, to solving the multi robot path planning and coordination problem.

本文提出了一种解决多机器人路径规划与协调问题的新方法：基于总体势减小的优先级动态调度策略。

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Through the study of formation control of multi-robots, this thesis studies the problem of multiple mobile robots path planning from two aspects of coordination and cooperation.

本文通过对多机器人编队问题的研究，从协调和协作两个方面来研究多机器人路径规划问题。

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Then a cooperative planning model was established, which could plan a feasible path for each UAV, which meeted both the requirements of time-coordination and the minimum cost.

然后建立协同模型，为各无人机规划出既能满足时间协同要求，又能满足整体代价最优的可行航迹。

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