直线阵采用切比学夫加权控制主旁瓣比，FMCW调频连续波雷达的测距测角，可以动态调节运行环境的参数，是路径规划的实用方法，真的是一个好程序。- Linear array using cut than learning laid upon the right control of the main sidelobe ratio, FMCW frequency modulated continuous wave radar range and angular measurements, Can dynamically adjust the parameters of the operating environment, Is a practical method of path planning, Really is a good program.