With more and more complex work environment and higher demands of the planning tasks, robots will not complete the tasks well if traditional methods of path planning are still adopted.

随着机器人的工作环境越来越复杂，规划任务的要求越来越高，使得机器人如果仍采用传统的规划方法，将无法很好地完成规划任务。

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A kind of time optimal formation strategy is proposed, which is based on path planning and task decomposition as well as an effective algorithm for assignment problem.

针对移动机器人的最速编队问题，结合路径规划和任务分解，提出一种分派问题的新解法和时间最优的编队策略。

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This thesis aims at the design and implementation of the stereo vision system as well as path planning based on the vision information.

因此本论文旨在研究陆地自主车的立体视觉系统设计和实现，以及在视觉处理获得的信息基础上进行路径规划。

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