Simulation results show that some of the ds-2-opt solutions and most of ds-3-opt solutions are better than those of dynamic programming heuristics,and the dynasearch algorithms can solve a TDTSP with a larger scale.

In a dynamic environment, a robot s collision free algorithm combining robot s basic collision avoidance strategies with the heuristic dynamic programming was presented.

Using heuristic dynamic programming method,the strategic behavior of dynamic programming and iteration of reward and penalty factors are regarded as agent and the external uncertain factors as the external environment of the agent.