1. 毕业设计（论文）的内容和要求

（一）基本要求 本课题要求设计机器人在确定环境内的路径规划算法算法，使用matlab语言编写控制程序，使得机器人在确定的未知环境中躲避障碍找到从起始到终点的最优路径。

（二）主要内容 1、熟悉程序设计语言 2、熟悉势函数路径规划算法 3、使用m语言编程实现控制算验证，记录相应参数轨迹； 4、比较常规路径规划算法和此算法算法的优缺点。

（三）相关要求 1、阅读中外文相关文献10篇以上； 2、翻译外文文献一篇，译文3000汉字以上； 3、完成本课题的开题报告，不少于3000汉字； 4、按学校 ”综合论文类”撰写规范，完成本课题的毕业设计论文，要求论文12000汉字以上。

2. 参考文献

[1]. Wang Ting, C. Sabourin and K. Madani : A novel path planning approach for multi-robot based transportation，International Journal of Robotics and Automation, 2013, 28(3): 218~225. [2] Wang Ting, D. M. Ramik, C. Sabourin, K. Madani :Intelligent systems for industrial robotics: application in logistic field, Industrial Robot: An International Journal, 2012, 39 (3): 251 ~ 259. [3] Wang Ting, Sabourin C., Madani K.:ANFIS Controller for Non-holonomic Robots, Majlesi Journal of Electrical Engineering, North America, 2011, 5(2):31~37, 2011. [4] Ting W., Gautero F., Sabourin C., Madani K.:A Neural Fuzzy Inference based adaptive controller for nonholonomic robots, COMPUTING, Special Issue on Neural Networks and Artificial Intelligence, 2011,10(1): 56-65. [5] Ting W., Gautero F., Sabourin C., Madani K.:A Neural Fuzzy Inference based Adaptive Controller Using Learning Process for Nonholonomic Robots, Advances in Computational Intelligence, LNCS, Vol. 6691, Springer Verlag, 2011, pp.65-72. [6]Ting W., Ramik D.M., Sabourin C. and Madani K.:Machine-Learning for Heterogeneous Multi- Robots Systems in Logistic Application Frame”, 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. 2011.10.01-10.03, paris, france. [7] Ting W., Gautero F., Sabourin C., Madani K.:A Neural Fuzzy Inference based Adaptive Controller Using Learning Process for Nonholonomic Robots, International Work-conference on Artificial Neural Networks (IWANN 2011), CD-Rom Proceedings, 2011. [8]Ting W., Sabourin C., Madani K.:Strategy Based on Machine-Learning for the Control of a Rigid Formation in a Multi-Robots Frame, Proceedings of International Conference on Informatics in Control Automation and Robotics, Netherlands, 2011.7.28 #8211; 31., 注：自行查阅补充8-10篇文献。

3. 毕业设计（论文）进程安排