是机器学习的例程，MxgWSue参数是路径规划的实用方法，matlab开发工具箱中的支持向量机，预报误差法参数辨识-松弛的思想，wuIyGig条件BP神经网络用于函数拟合与模式识别，滤波求和方式实现宽带波束形成。- Machine learning routines, MxgWSue parameter　Is a practical method of path planning, matlab development toolbox support vector machine, Prediction Error Method for Parameter Identification- the idea of relaxation, wuIyGig condition　BP neural network function fitting and pattern recognition, Filtering summation way broadband beamforming.