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代码说明：

  毕业设计中，用Matlab实现了机器人最优路径规划中的全局路径规划，算法采用的是基于方向权的 VUtFmk 二叉树算法，同时结合了哈夫曼编码二叉树的 gXMAbPy综合。(Graduation design, using Matlab to achieve the optimal path planning of robot global path planning algorithm uses a binary tree algorithm based on the direction of the right VUtFmk , combined with the binary tree Huffman coding gXMAbPy comprehensive.)