利用先锋3机器人自带的函数库ARIA在C++环境下的编程，实现先锋3机器人实现沿墙行走，并且实现避障的同时探索已学习过的物体（本程序是通过识别颜色），然后通过抓手将物体抓起放到一个特定位置。-Pioneer 3 robot using native libraries ARIA in C++ programming environment, to achieve realization of Pioneer 3 robot walking along the wall, and obstacle avoidance while achieving exploration has been studied objects (this process is by identifying the color), then grasps the object by grab into a specific location.