是路径规划的实用方法，有小波分析的盲信号处理，现代信号处理中谱估计在matlab中的使用，利用自然梯度算法，matlab小波分析程序，应用小区域方差对比，程序简单。- Is a practical method of path planning, There Wavelet Analysis Blind Signal Processing, Modern signal processing used in the spectral estimation in matlab, Use of natural gradient algorithm, matlab wavelet analysis program, Application of small area variance comparison, simple procedures.