From 37dac7d7a2eaeca68a686cadb42176bb5b2266ae Mon Sep 17 00:00:00 2001
From: doubleTing <835497784@qq.com>
Date: Fri, 31 Dec 2021 16:15:08 +0800
Subject: [PATCH] update

---
 source/version_two/development/locationintro.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/version_two/development/locationintro.md b/source/version_two/development/locationintro.md
index 5623914..25a3205 100644
--- a/source/version_two/development/locationintro.md
+++ b/source/version_two/development/locationintro.md
@@ -44,7 +44,7 @@
 |1 |  | Dashboard部署定位地图 |  定位数据（车载定位标签坐标）| marvelmind驱动包(catkin_ws\src\driver\location\marvelmind)|
 |2 | 里程计数据 定位数据 | 定位融合| 当前机器人在环境中的位姿 | location_fusion(catkin_ws\src\navigation\location_fusion)|
 |3| 当前机器人位姿| 控制机器人运动，录制路径| 路径数据 |path_server(catkin_ws\src\navigation\path_server)|
-|4| 目标机器人位姿| 路径数据|  |[move_base](http://wiki.ros.org/move_base/)|
+|4| 路径数据| 读取录制的路径数据，执行循迹操作 | 目标机器人位姿 |path_server(catkin_ws\src\navigation\path_server)  [move_base](http://wiki.ros.org/move_base/)|
 |5| 当前机器人位姿 目标机器人位姿| 根据机器人当前位姿，进行全局规划路线| 路径数据（初步预估导航路线） |[global_planner(dijkstra) ](http://wiki.ros.org/global_planner)|
 |6| 路径数据 前雷达数据 后雷达数据 | 根据规划路径开始导航，进行过程中随着实际环境、障碍物变化，进行局部路径规划，实时避障| 局部路径规划  避障 |[costmap_2d ](http://wiki.ros.org/cost_map)[teb_local_planner](http://wiki.ros.org/teb_local_planner)|
 |7| 速度信息 /cmd_vel | 向底发送速度命令 |  |[move_base](http://wiki.ros.org/move_base/)|