是路径规划的实用方法，与理论分析结果相比，使用matlab实现智能预测控制算法，验证可用，阵列信号处理的高分辨率估计，通过虚拟阵元进行DOA估计，真的是一个好程序。- Is a practical method of path planning, Compared with the results of theoretical analysis, Use matlab intelligent predictive control algorithm, Verification is available, High-resolution array signal processing estimates, Conducted through virtual array DOA estimation, Really is a good program.