【Key words】 Mobile robot； path planning； on-line real-time； polar coordinates space； desirable direction angle； dynamic obstacle； trajectory prediction； autoregressive (AR) model； obstacle detection； laser ranging radar (LRR)； self-localization.；
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也可以把这种坐标，看成是空间中的极坐标，它其实使用了，距离原点的距离，然后用角度这种标尺，来确定了方向。
So, in a way, you can think of these as a space analog of polar coordinates because you just use distance to the origin, and then you have to use angles to determine in which direction you're going.
在小目标远场情况下，极坐标格式算法(PFA)能够基本消除MTRC，这种算法需要在空间频域进行从极坐标分布到直角坐标分布的二维插值。
Polar formation algorithm (PFA) can mostly compensate MTRC in the case of small target and distant field, which need the transformation from polar grid to Cartesian lattice.
本文采用多极坐标和复变函数方法针对半无限空间中P波在一衬砌周围的散射问题提出了一种近似求解分析方法。
The multi polar coordinate and complex function are used to put forward an approximate analysis method for scattering of steady P wave around a circular lining in half space.
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