说明：  人工势场法C++版及利用opencv(or matlab)实现可视化并利用opencv画出规划好的路径，对于没安装opencv的朋友，也可以把路径打印出来，复制到matlab的命令行窗口，利用plot来查看
(Artificial potential field method, in reference to the matlab version of the program (Chinese annotation), write a version of C++, and use OpenCV to draw a planned path, for a friend without a opencv, can also print out the path, copy to the matlab command line window, use plot to view)