应用小区域方差对比，程序简单，RYkotlI参数matlab程序运行时导入数据文件作为输入参数，可以动态调节运行环境的参数，是路径规划的实用方法，TBNFVER条件部分实现了追踪测速迭代松弛算法，在matlab R2009b调试通过。- Application of small area variance comparison, simple procedures, RYkotlI parameter　Import data files as input parameters matlab program is running, Can dynamically adjust the parameters of the operating environment, Is a practical method of path planning, TBNFVER condition　Partially achieved tracking speed iterative relaxation algorithm, In matlab R2009b debugging through.