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
(Use Dijkstra algorithm to find the shortest path network diagram to find the starting point P1 to the end of Pn from the shortest path algorithm is used as the midpoint of the condition of cable, not the entire optimal path planning of space, and then use genetic algorithm to find shortest path of each path points Pi (i = 1,2, ... n) adjusted to the path of obstacles in the corresponding endpoint connection point slide)