英语翻译为了解决足球机器人无法躲避动态障碍物和容易陷入局部极值的问题,在深入研究粒子群优化算法的基础上,提出了采用栅格法与粒子群优化算法相结合的路径规划算法.首先采用栅格

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英语翻译
为了解决足球机器人无法躲避动态障碍物和容易陷入局部极值的问题,在深入研究粒子群优化算法的基础上,提出了采用栅格法与粒子群优化算法相结合的路径规划算法.首先采用栅格法对小型足球机器人工作环境构造模型,再利用改进的粒子群优化算法进行最优路径搜索,该算法实现简单,收敛速度快,不易陷入局部极值,不仅能够满足足球机器人实时动态的路径规划要求,而且能满足不同环境下的路径规划要求.仿真实验表明该方法可以很好的应用于足球机器人的路径规划中.
google翻译绕道,或者帮我看下我的翻译有没有语法或则时态错误
In order to solve the problems of soccer robot can not avoid dynamic obstacles and easily get into local optimal value in the path planning,an algorithm which was combined by grid theory and Particle Swarm Optimization (PSO) was advanced based on deeply studied the PSO.First adopted the grid theory to establish the free space model of the small-size soccer robot,and then improved the PSO to find out the optimal path.The method has a simple model and a rapid convergence and can not easily get into local optimization; it can fulfill the path planning demands of not only real-time and dynamic but also different environment.The algorithm can be applied well in path planning of soccer robot are proved by the simulation.

Answer 1

（As everyone konws,）Soccer robot can not avoid dynamic obstacles and easily gets into local optimal value in the path planning,In order to solve the problems ,on the base of deep research about the ...