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

分销渠道是业营销重要部分，具有建立过程缓慢，建立易改变，以及业对其难以控。

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.

四章针对三章提出算法缺点，排出确定传感器信息影响，试验一种随机规划与局部路径规划相结合混合路径规划方法。