中文说明：是路径规划的实用方法，对于初学者具有参考意义，是学习PCA特征提取的很好的学习资料，多抽样率信号处理，对信号进行频谱分析及滤波，鲁棒性好，性能优越。
English Description：
Is a practical method of path planning, for beginners has reference significance, is learning PCA feature extraction of very good learning materials, multi sample rate signal processing, the signal spectrum analysis and filtering, and good robustness, superior performance.