毕业设计中，用Matlab实现了机器人最优路径规划中的全局路径规划，算法采用的是基于方向权的 nIpsWo 二叉树算法，同时结合了哈夫曼编码二叉树的 guamyol综合。-Graduation design, using Matlab to achieve the optimal path planning of robot global path planning algorithm uses a binary tree algorithm based on the direction of the right nIpsWo , combined with the binary tree Huffman coding guamyol comprehensive.