说明：  首先，探讨了映射方法的选择。此步骤是整个规划方法的基础。协调映射因为具有 变形小、网格不会重叠等优点，被作为最佳选择。根据协调映射的理论，建立了平面上 圆形域、矩形域、多边形域等参数域的映射模型，可根据轨迹规划的需要来选择映射的 边界。由于协调映射时所需处理的数据量很大，本文给出了编程时具体的数据结构，其 中大型稀疏矩阵采用三元组压缩存储。
(First, the choice of the mapping method. This step is the basis for the planning method. Coordinate map as a small deformation, the grid do not overlap, etc., as the best choice. According to coordinate mapping theory, a plane circular domain, rectangular domain, the domain polygon model parameters such as field mapping, according to the trajectory planning needs to select the mapping of the border. As the co-ordination required to map a large amount of data processed, the paper gives specific programming data structures, including large-scale sparse matrix compression using triple store.)