Based on the dynamic characteristics of command and decision-making of anti-air combat, a dynamic weapon target assignment model is established in this paper.
根据舰艇编队对空防御指挥决策中目标武器分配的动态性特点，建立了动态目标武器分配的模型。
A path planning algorithm based on virtual target and an algorithm of obstacle avoidance are presented in decision making subsystem of robot.
针对足球机器人运动的决策子系统，提出了基于虚拟目标点的路径规划方法和避障算法。
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