Without human knowledge, it can not reduce the scale of environment modeling radically, accordingly can not improve the speed of path planning and real-time of navigation monitoring.
没有人的知识帮助就无法从根本上降低环境建模的规模，进而大幅度提高路径规划速度和导航监控实时性。
While local planning methods can implement real-time planning. But since there is no global information included, such indices as motion path or runtime cannot be optimized.
局部规划方法虽能做到实时规划，但由于没有全局信息，所以无法对运动路径或运行时间等性能指标进行优化。
In order to meet the dynamic and real-time demands in the match of soccer robot, a new algorithm for path planning was advanced based on deeply researching the PSO algorithm.
为了满足需求的动态实时的足球机器人在比赛中，提出了一种新的算法，提出了基于路径规划的深入研究了粒子群优化算法。
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