说明：  基于蚁群算法的机器人路径规划，使用网格离散化的方法对带有障碍物的环境建模，使用邻接矩阵存储该环境，使得问题转化为蚁群算法寻找最短路径。
(Based on the ant colony algorithm, the path of the robot with the obstacle is modeled by the method of grid discretization, and the environment is stored by the adjacency matrix, so that the problem is transformed into the ant colony algorithm to find the shortest path.)