Chapter 4, according to the shortage of the algorithm provided in the chapter 3 and removing the influence of unsureness sensors information, a feasible mixed approach of path planning is discussed.

• 第四章针对第三章提出算法的缺点，排出不确定传感器信息的影响，试验一种随机规划与局部路径规划相结合的混合路径规划方法。