这是最基本的人工势场法，同时也做了很多注释，初始的是比较完美的数值仿真。但是，如果将注释中的语句与程序中的互换，就可以看到传统人工势场的缺陷。- This is the basic artificial potential field, but also do a lot of notes, the initial value is more perfect simulation. However, if you comment statements and program exchange