针对多移动机器人的队形优化控制任务 ,引入 4种基本行为 ,即奔向目标行为、保持队形行为、避免与静态障碍物碰撞行为、避免与其它机器人碰撞行为。为了实现行为的决策 ,机器人采用基于 Mo-tor Schem a的结构 ,并通过遗传算法优化行为合成所需的控制参数。仿真结果表明 ,所提出的方法是可行的 Aiming at the formation control tasks of multi-mobile robots, four basic behaviors are introduced, that is, to the target behavior, to keep the formation behavior, to avoid the collision with static obstacles and to avoid the collision with other robots. In order to make behavioral decisions, the robot uses Mo-tor Schem a-based structures and synthesizes the required control parameters through genetic algorithms. Simulation results show that the proposed method is feasible