是路径规划的实用方法，阐述了负荷预测的应用研究,含噪脉冲信号进行相关检测,各种资源分配算法实现，供做算法研究人员参考。- Is a practical method of path planning, It describes the application of load forecasting, Noisy pulse correlation detection signal, Various resource allocation algorithm, Algorithm for rese