到达过程是的泊松过程，鲁棒性好，性能优越，是路径规划的实用方法，包括面积、周长、矩形度、伸长度，一些自适应信号处理的算法，添加噪声处理。-Arrival process is a Poisson process, Robustness, superior performance, Is a practical method of path planning, Including the area, perimeter, rectangular, elongation, Some adaptive signal processing algorithms, Add noise processing.