Urban green space task of planning to is it resume city natural characteristic to want, artificial with design as an ecosystem naturally, realize people and natural harmonious intergrowth.
城市绿地规划的任务就是要恢复城市自然特性，把人工和自然作为一个生态系统来设计，实现人与自然的和谐共生。
Space path planning have to decide a safe collision-free path when the robot perform certain task in entity space.
空间路径规划是，当机器人在实体空间里完成一定任务时，必须确定一条安全的无碰撞的穿行路径。
The task space trajectory planning for robots is reviewed and analyzed based on the geometric structure of task space.
本文从机器人任务空间的几何结构出发，对任务空间轨迹规划进行了总结。
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