是路径规划的实用方法，基于欧几里得距离的聚类分析，时间序列数据分析中的梅林变换工具，最小二乘回归分析算法，通过反复训练模板能有较高的识别率，IMC-PID是利用内模控制原理来对PID参数进行计算，基于SVPWM的三电平逆变的matlab仿真，包括面积、周长、矩形度、伸长度。- Is a practical method of path planning, Clustering analysis based on Euclidean distance, Time series data analysis Mellin transform tool, Least-squares regression analysis algorithm, Through repeated training XxaYeFylate have higher recognition rate, The IMC- PID is using the internal model control principle for PID parameters is calculated, Based on SVPWM three-level inverter matlab simulation, Including the area, perimeter, rectangular, elongation.