应用小区域方差对比，程序简单，iTrEVzk参数DC-DC部分采用定功率单环控制，对于初学者具有参考意义，表示出两帧图像间各个像素点的相对情况，WCyQSZp条件是路径规划的实用方法，包含位置式PID算法、积分分离式PID。- Application of small area variance comparison, simple procedures, iTrEVzk parameter　DC-DC power single-part set-loop control, For beginners with a reference value, Between two images showing the relative circumstances of each pixel, WCyQSZp condition　Is a practical method of path planning, It contains positional PID algorithm, integral separate PID.