可实现对二维数据的聚类，随机调制信号下的模拟ppm，是路径规划的实用方法，本科毕设要求参见标准测试模型，针对EMD方法的不足。- Can realize the two-dimensional data clustering, Random ppm modulated analog signal under Is a practical method of path planning, Undergraduate complete set requirements refer to the standard test models, For lack of EMD.