Using graphic , gis which utilizes people ’ s love to graphics not only can reflect the distributing of the spatial objects and phenomena and the relation between them , but also the geographic information can be applied to many fields of society and life as the carrier of all kind information , especially in tour industry which quickly develop recently Gis充分利用了人类对图形的喜爱,不仅可以用图形充分反映空间物体和现象的分布以及它们之间的关系,而且空间信息还能作为各种信息的载体,深入应用到社会、生活的多个领域,尤其是在近年来发展迅猛的旅游业中的。
The find - path problem is then transformed into that of finding a collision - free path for a point robot among the cspace obstacles . however , the research experiences have shown that the cspace transformation is very hard when the following situations occur : 1 both the robot and obstacles are not polygons , and 2 the robot is allowed to rotate . this situation gets even worse when the robot and obstacles are three dimensional objects with various shapes 其根本问题有二：第一，这一方法只适用于机器人及障碍物形状均为2d空间的多边形，无法推广到3d空间的多面体和其它形状的3 d空间物体，从而表现为对机器人及障碍物形状敏感第二，这一方法只适用于机器人平动，而实际机器人都必然要包括转动的要求。
