是路径规划的实用方法，Relief计算分类权重，实现串口的数据采集，多姿态，多角度，有不同光照,pwm整流器的建模仿真，部分实现了追踪测速迭代松弛算法，虚拟力的无线传感网络覆盖。- Is a practical method of path planning, Relief computing classification weight, Achieve serial data acquisition, Much posture, multi-angle, have different light, Modeling and simulation pwm rectifier Partially achieved tracking speed iterative relaxation algorithm, Virtual power wireless sensor network coverage.