说明：  代码部分参考了大佬的可视化调度器[https: github.com AkatsukiCC huawei2019-with- visualization,没有加调度器,用融合了地杰斯特拉的贪婪思想的A- star算法计算出来最短路径,然后将车辆按照路径长短和车辆速度两个维度进行...](https: github.com AkatsukiCC huawei2019-with- visualization%EF%BC%8C%E6%B2%A1%E6%9C%89%E5%8A%A0%E8%B0%83%E5%BA%A6%E5%99%A8%EF%BC%8C%E7%94%A8%E8%9E%8D%E5%90%88%E4%BA%86%E5%9C%B0%E6%9D%B0%E6%96%AF%E7%89%B9%E6%8B%89%E7%9A%84%E8%B4%AA%E5%A9%AA%E6%80%9D%E6%83%B3%E7%9A%84A-star%E7%AE%97%E6%B3%95%E8%AE%A1%E7%AE%97%E5%87%BA%E6%9D%A5%E6%9C%80%E7%9F%AD%E8%B7%AF%E5
(The code part refers to the visual scheduler of Big Brother [https: github.com AkatsukiCC huawei2019 with - visualization, without adding a scheduler, the shortest path is calculated using the A-star algorithm that integrates Dijestra s greedy idea, and then the vehicle is carried out according to the two dimensions of path length and vehicle speed...] (https: github.com AkatsukiCC huawei2019 with - visualization% EF% BC% 8C% E6% B2% A1% E6% 9C% 89% E5% 8A% A0% E8% B0% 83% E5% BA% A6% E5% 99% A8% EF% BC% 8C% E7% 94% A8% E8% 9E% 8D% E5% 90% 88% E4% BA% 86% E5% 9C% B0% E6% 9D% B0% E6% 96% AF% E7% 89% B9% E6% 8B% 89% E7% 9A% 84% E8% B4% AA% E5% A9% AA% E6% 80% 9D% E6% 83% B3% E7% 9A% 84A star% E7% AE% 97% E6% B3% 95% E8% AE% A1% E7% AE% 97% E5% 87% BA% E6% 9D% A5% E6% 9C% 80% E7% 9F% AD% E8% B7% AF% E5)