Using the rolling optimization concept adopted in predictive control, robot path planning in global unknown environment with moving obstacles is studied.
本文借鉴预测控制滚动优化原理，研究了全局环境未知且存在动态障碍物情况下的机器人路径规划问题。
Based upon the improved Input Output model of environment economy resources pollution control, the regional multiple objective optimization model of water environment economy is established.
基于改进的经济、环境、资源、污染治理投入产出模型，建立了区域水环境经济多目标优化规划模型。
Finally, we analyzed the main reason of the problem and proposed the optimization internal control environment countermeasure.
最后，分析了问题产生的主要原因，提出了优化内部控制环境的对策。
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