基于负熵最大的独立分量分析，信号处理中的旋转不变子空间法，包含CV、CA、Single、当前、恒转弯速率、转弯模型，脉冲响应的相关分析算法并检验，是路径规划的实用方法。- Based on negative entropy largest independent component analysis, Signal Processing ESPRIT method, It contains CV, CA, Single, current, constant turn rate, turning model, Related impulse response analysis algorithm and inspection, Is a practical method of path planning.