说明：  本文主要研究的是机器人避障，通过混合粒子群算法来实现，里面含算法步骤，实例分析，对研究机器人避障的朋友在理论上有所帮助
(This paper mainly studies the robot obstacle avoidance, through the hybrid particle swarm algorithm to achieve, which contains the steps of the algorithm, example analysis, to study the robot obstacle avoidance friend in theory help)