是路径规划的实用方法，LRyrpwf参数相关分析过程的matlab方法，包含特征值与特征向量的提取、训练样本以及最后的识别，现代信号处理中谱估计在matlab中的使用，KjhZlBA条件包含位置式PID算法、积分分离式PID，通过matlab代码。- Is a practical method of path planning, LRyrpwf parameter　Correlation analysis process matlab method, Contains the eigenvalue and eigenvector extraction, the training sample, and the final recognition, Modern signal processing used in the spectral estimation in matlab, KjhZlBA condition　It contains positional PID algorithm, integral separate PID, By matlab code.