预报误差法参数辨识-松弛的思想，是本科毕设的题目，对于初学者具有参考意义，是路径规划的实用方法，一个很有用的程序。- Prediction Error Method for Parameter Identification- the idea of relaxation, The title of the commercial is undergraduate course you For beginners with a reference value, Is a practical method of path planning, A very useful program.