一次多点 插值算法 把各点用一次直线连接并以一定间段插值 -A multi-point interpolation algorithm to the various points with a straight-line connection and a certain inter-segment interpolation

基于海图的快速临近值插值进行地图构建，并根据水下机器人的动力学模型，利用遗传算法进行全局路径规划。(The map is constructed based on the fast approaching value interpolation of the sea chart, and the global path planning is carried out by the genetic algorithm according to the dynamic model of the un