Distribution channel is the important part of marketing, which has the nature of slow-establish process, long-term efficiency and unsureness of control.

分销渠道是企业营销的重要部分，具有建立过程的缓慢性，建立后的不易改变性，以及企业对其难以控制性。

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。