使用拉亚普诺夫指数的公式，是路径规划的实用方法，包含收发两个客户端的链路级通信程序,基于人工神经网络的常用数字信号调制，matlab编写的元胞自动机，信号处理中的旋转不变子空间法。- Raya Punuo Fu index using the formula, Is a practical method of path planning, Contains two clients receive link-level communications program, The commonly used digital signal modulation based on artificial neural network, matlab prepared cellular automata, Signal Processing ESPRIT method.