ID	原文	译文
1803	针对动态环境未知时变的特点，提出一种机器人路径规划新方法。	For the characteristics of being unknown and time-varying of dynamic environment, a new method for mo-bile robot path planning is proposed in this paper.
1804	在该方法中，首先对栅格法建立的环境模型进行凸化处理，以避免机器人沿规划路径移动时陷入 U 型陷阱，从而加快路径规划的速度;	Firstly, in this method the environment model established by the grid meth-od is convexized in order for the robot to avoid falling into U-shaped traps when moving along the planned path and thus to speed up the path planning.
1805	其次，提出双层蚁群算法(DACO)，在每次迭代中先用外层蚁群算法寻找一条路径，	Secondly, a double-layer ant colony optimization(DACO)algorithm is proposed. In each itera-tion of DACO algorithm, a path is found firstly by the outer ACO algorithm,
1806	然后以该路径为基础构造一个小环境，接着在该环境下用内层蚁群算法重新寻优，若寻得的路径质量更高，则更新路径并执行本文给出的一种新型信息素二次更新策略;	then on basis of which a small environment isconstructed, and then the robot re-plans path by the inner ACO algorithm in the small environment;if the newly obtained path is better, then the global optimal path is updated and a new pheromone secondary update strategy proposed in this paperis executed.
1807	最后，针对环境中不同动态障碍物的体积和速度，提出三种避障策略。	At last, three kinds of obstacle avoidance strategies are put forward according to the volume and speed of differ-ent dynamic obstacles in the environment.
1808	动态环境下，机器人先由 DACO 算法规划一条静态环境下从起点到终点的全局最优路径，	In the dynamic environment, the robot plans a global optimal path from the start-ing point to the destination with respect to the static environment via the DACO algorithm,
1809	然后从当前起点开始，通过自带传感器获取动态环境信息，并根据需要执行等待、正碰或追尾避障策略，到达新的起点。	then from the current starting point, the robot acquires the dynamic environment's information by its embedded sensor and implements waiting-for-obsta-cle avoidance strategy, collision avoidance strategy or rear-end collision avoidance strategy when necessary, and then the ro-bot moves to next position as a new starting point.
1810	仿真实验表明，该方法可以在动态环境下实时地为移动机器人规划出一条安全且最短的路径，是求解移动机器人路径规划问题的一种切实有效的方法。	Simulation results show that the proposed can plan a safe and shortest path for mobile robot in real time under dynamic environment and is a practical and effective method for mobile robot path plan-ning.
1811	随着网络功能虚拟化(NFV)的引入，运营商能够提供更为灵活的网络服务。	With the introduction of network function virtualization (NFV), operators can provide more flexible net-work service.
1812	然而现有服务功能链(SFC)编排局限于静态反应式策略，业务流量发生变化时网络资源供应量难以匹配负载需求，虚拟网络功能(VNF)频繁部署与迁移，运营开销增大。	However, most existing orchestration schemes of service function chain (SFC)are limited to the static or reac-tive policy where the virtual network functions (VNFs)need to be deployed or migrated frequently, and will easily lead to the mismatch of service supplement and high operational expenditure under time-varying workload.