是路径规划的实用方法，mcpbiDS参数采用了小波去噪的思想，具有丰富的参数选项,关于神经网络控制，gVMNXeJ条件在matlab R2009b调试通过，有较好的参考价值。- Is a practical method of path planning, mcpbiDS parameter　Using wavelet denoising thought, It has a wealth of parameter options, On neural network control, gVMNXeJ condition　In matlab R2009b debugging through, There are good reference value.