分析了该信号的时域、频域、倒谱，循环谱等,基于人工神经网络的常用数字信号调制，对信号进行频谱分析及滤波，相关分析过程的matlab方法，快速扩展随机生成树算法，是路径规划的实用方法。- Analysis of the signal time domain, frequency domain, cepstrum, cyclic spectrum, etc. The commonly used digital signal modulation based on artificial neural network, The signal spectral analysis and filtering, Correlation analysis process matlab method, Rapid expansion of random spanning tree algorithm, Is a practical method of path planning.