中文说明：
利用Dijkstra算法来求网络图的最短路径，找到从起点P1到终点Pn的最短路径，由于上述算法使用了连接线中点的条件，不是整个规划空间的最优路径，然后利用遗传算法对找到的最短路径各个路径点Pi (i=1,2,…n)调整，让各路径点在相应障碍物端点连线上滑动。
English Description：
The Dijkstra algorithm is used to find the shortest path in the network diagram and find the shortest path from the starting point P1 to the ending point PN. Because the above algorithm uses the conditions of the midpoint of the connection line, it is not the optimal path in the whole planning space. Then, the genetic algorithm is used to adjust each path point PI (i=1,2,... N) of the found shortest path so that each path point slides on the connecting line of the corresponding obstacle endpoint