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本文从模块化系统结构、基于知识的层次规划机理及面向三维复杂模型的规划实现思想等几个方面,讨论了一个采用OPS83和C语言设计实现的更具一般性和更复杂的基于知识的三维复杂世界模型下的机器人规划系统KBROPS-2,并通过与历史上其它几个著名规划系统在求解同样模型下几个典型问题的规划步骤、规划时间等性能方面的对比,及在不同模型和实现环境下的规划求解速度的比较,分析得出KBROPS-2系统是一个比较成功的机器人规划系统的结论。
This paper discusses a more generalized and more complex knowledge-based three-dimensional (OWC) design using OPS83 and C language design from the aspects of modular system structure, knowledge-based hierarchical programming mechanism and planning realization of three-dimensional complex model. The robot planning system KBROPS-2 under the complex world model is compared with the planning steps of several typical problems under the same model and the performance of planning time by using several famous planning systems in history. Environment, the result shows that the KBROPS-2 system is a more successful robot planning system.