path planning and obstacle escaping
路径规划与避障
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取得的结果不仅可直接应用于避障路径规划算法的设计与实现，而且还可应用于计算几何中相关问题的求解。
The obtained results can not only been applied to the design and implementation of algorithm for avoidance obstacle path planning, but also been used to solve the problems of computational geometry.
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