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。
A path planning algorithm based on collision resolution mechanism was proposed for multiple UCAVs attacking the same target at the same time.
针对多架无人机同时攻击同一目标的问题，提出了一种基于冲突消解机制的航路规划算法。
The planning track that is gotten from dynamic programming algorithm sometimes can not achieve the aimed target.
通常所使用的动态规划算法得到的规划航迹有时达不到目标点。
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