Obstacle avoidance path planning for free flying space robot is realized by the use of ant algorithm.
本文采用蚁群算法实现了自由飞行空间机器人的避障路径规划。
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。
Most of them were theory researches, mainly on kinematical planning and optimization, especially in the case of obstacle avoidance.
其中大部分是理论研究，主要集中于运动学的规划与优化，尤其是避障的情况下的研究。
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