With the help of path planning, the AUV can avoid the obstacle autonomously. 此外，因为具有了路径规划能力，水下机器人能够自治式绕过障碍物。
The PSO algorithm is improved to make it more intelligent, which is used in mute planning of the cruise missile. 对近年来出现的粒子群算法进行了改进以使其更具智能化，将它应用于巡航导弹路径规划问题，并进行了仿真计算。
