关键技术包括机器人的实时运动规划（Real-time Motion Planning）；传感信息的快速识别算法等，只有这些关键技术得 到彻底解决，机器人才有可能较自主地完成任务。
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While local planning methods can implement real-time planning. But since there is no global information included, such indices as motion path or runtime cannot be optimized.
局部规划方法虽能做到实时规划，但由于没有全局信息，所以无法对运动路径或运行时间等性能指标进行优化。
Coordinaion level controller is designed to fulfill collision-free motion planning and real time coupling estimation among subsystems.
协调级控制器实现无碰运动的规划和各子系统之间耦合的实时估计。
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