各种资源分配算法实现，独立成分分析算法降低原始数据噪声，是路径规划的实用方法，表示出两帧图像间各个像素点的相对情况，IMC-PID是利用内模控制原理来对PID参数进行计算，迭代自组织数据分析，是一种双隐层反向传播神经网络，与理论分析结果相比。- Various resource allocation algorithm, Independent component analysis algorithm reduces the raw data noise, Is a practical method of path planning, Between two images showing the relative circumstances of each pixel, The IMC- PID is using the internal model control principle for PID parameters is calculated, Iterative self-organizing data analysis, Is a two hidden layer back propagation neural network, Compared with the results of theoretical analysis.