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说明：  为了处理快速变化的动态环境,在微粒速度更新公式中增加了一项变化项,从而无需检测环境的变化就可以跟踪环境。尽管该方面的研究成果至今较少,但不容质疑这是一项重要的研究内容(To deal with the rapidly changing dynamic environment, update the formula in the particle velocity increased by a change in key, so no need to detect changes in the environment can track the environment. Although the results of research so far less, but no question this is an important research)