This paper start with the basic point to point planning in the right angle space and gradually go deep into the path planning problem of curve planning and arbitrary path point.
本文从直角坐标空间中基本的点到点的规划方法人手，逐步深入到曲线的规划问题和过任意路径点的轨迹规划问题。
Path planning is to find a trajectory from the initial point to the target point which satisfies a certain performance optimal index under some constraints.
路径规划问题一般是指在一定约束条件下，寻找从给定起始点到给定目标点之前满足某种性能指标最优的路径轨迹。
Path planning is to find a trajectory from the initial point to the target point which satisfies a certain performance optimal index under some constraints.
路径规划问题一般是指在一定约束条件下，寻找从给定起始点到给定目标点之前满足某种性能指标最优的路径轨迹。
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