说明：  在研究自主运动规划问题之前，首先需建立相对较为完整的自主运动规划体系，再由该体系作为指导，对自主运动规划的各项具体问题进行深入研究。本节将根据自主机器人的思维方式、运动形式、任务行为等特点，建立与之相适应的自主运动规划体系。并按照机器人的数量与规模，将自主运动规划分为单个机器人的运动规划与多机器人协同运动规划两类规划体系。
(Before studying the problem of autonomous motion planning, it is necessary to establish a relatively complete system of autonomous motion planning, and then conduct in-depth study on the specific issues of autonomous motion planning under the guidance of this system. In this section, an adaptive autonomous motion planning system will be established according to the characteristics of autonomous robot's thinking mode, motion form and task behavior. According to the number and scale of robots, the autonomous motion planning system is divided into two types: single robot motion planning and multi robot collaborative motion planning.)