在機器人規劃中，不確定性是一個普遍存在的問題。不確定性源主要可以分為兩類：環境不確定性和系統不確定性。

Uncertainty is a common problem in robot planning. The sources of uncertainty can be mainly divided into two categories: environmental uncertainty and system uncertainty.

　　環境不確定性：環境不確定性是指由于環境的復雜性和變化性，導致機器人在執行任務時無法完全準確地獲取環境信息和響應環境變化的能力。

Environmental uncertainty: Environmental uncertainty refers to the ability of robots to accurately obtain environmental information and respond to environmental changes during task execution due to the complexity and variability of the environment.

　　傳感器噪聲：例如，識別的障礙物或機器人的位置等。

Sensor noise: For example, recognized obstacles or the position of robots.

　　控制擾動：例如，無人機的風場擾動等。

Control disturbances, such as wind field disturbances caused by drones.

　　未建模環境：例如，崎嶇的地形等。

Unmodeled environment: for example, rugged terrain, etc.

　　意圖：例如，動態環境下其余智能體的未來行為等。

Intention: For example, the future behavior of other intelligent agents in a dynamic environment.

　　系統不確定性：系統不確定性則是指由于機器人自身存在的限制和不完善的模型，導致機器人在執行任務時無法完全準確地預測自身行為和響應環境變化的能力。

System uncertainty: System uncertainty refers to the inability of robots to accurately predict their behavior and respond to environmental changes during task execution due to their own limitations and imperfect models.

　　在機器人控制中，機器人的運動方程通常是非線性的，但為了方便計算，可能會使用線性模型進行規劃和控制。這樣就可能導致規劃結果和實際情況不完全一致，從而影響機器人的運動表現和安全性。因此，對于非線性系統，建立更為準確的模型是一個重要的研究方向，以便更好地處理不確定性并提高規劃的性能。

In robot control, the motion equations of robots are usually nonlinear, but for the convenience of calculation, linear models may be used for planning and control. This may lead to inconsistencies between the planning results and the actual situation, thereby affecting the motion performance and safety of the robot. Therefore, for nonlinear systems, establishing more accurate models is an important research direction to better handle uncertainty and improve planning performance.

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