人工势场

代码说明：

 用深度优先算法做的一个路径规划。可以从开始点一直移动到目标点，避开障碍物。 人工势场法是由Khatib提出的一种虚拟力法。它的基本思想是将机器人在周围环境中的运动，设计成一种抽象的人造引力场中的运动，目标点对移动机器人产生“引力”，障碍物对移动机器人产生“斥力”，最后通过求合力来控制移动机器人的运动。  (Artificial potential field method is put forward by Khatib a virtual force method.It s the basic idea is to turn the robot movement in the surrounding environment, designed to be an abstract movement of artificial gravity, gravity target for mobile robot, obstacle for mobile robot repulsive force , finally through the force to control the movement of the mobile robot. Artificial potential field method is put forward by Khatib a virtual force method.It s the basic idea is to turn the robot movement in t