优化了路径规划

826220679@qq.com

4 小时以前 9d7822ada88392e1b1a612e9b4f680fe6b09aedf

优化了路径规划

 Obstacledge.properties

@@ -1,5 +1,5 @@
# 割草机地块障碍物配置文件
# 生成时间：2025-12-27T16:33:13.889689700
# 生成时间：2025-12-27T22:24:22.132171500
# 坐标系：WGS84（度分格式）

# ============ 地块基准站配置 ============

 dikuai.properties

@@ -1,5 +1,5 @@
#Dikuai Properties
#Sat Dec 27 16:33:13 GMT+08:00 2025
#Sat Dec 27 22:24:22 GMT+08:00 2025
LAND1.intelligentSceneAnalysis=-1
LAND1.mowingSafetyDistance=0.53
LAND1.landArea=577.12
@@ -12,7 +12,7 @@
LAND1.boundaryOriginalXY=-1
LAND1.mowingWidth=1.00
LAND1.plannedPath=73.87,49.87;50.78,50.04;41.97,22.44;49.61,19.99;51.85,34.26;66.29,36.70;66.29,21.40;78.09,24.75;73.87,49.87;73.96,49.37;50.62,49.54;50.30,48.54;74.12,48.37;74.29,47.37;49.98,47.54;49.66,46.55;74.46,46.37;74.63,45.37;49.34,45.55;49.02,44.55;74.80,44.37;74.96,43.37;48.71,43.55;48.39,42.55;75.13,42.36;75.30,41.36;48.07,41.56;47.75,40.56;75.47,40.36;75.64,39.36;47.43,39.56;47.11,38.56;75.80,38.36;75.97,37.36;46.79,37.57;46.48,36.57;64.75,36.44;66.29,36.43;76.14,36.36;76.31,35.36;66.29,35.43;59.07,35.48;46.16,35.57;45.84,34.57;53.38,34.52;66.29,34.43;76.48,34.35;76.64,33.35;66.29,33.43;51.73,33.53;45.52,33.57;45.20,32.58;51.57,32.53;66.29,32.43;76.81,32.35;76.98,31.35;66.29,31.43;51.42,31.53;44.88,31.58;44.56,30.58;51.26,30.53;66.29,30.43;77.15,30.35;77.32,29.35;66.29,29.43;51.11,29.53;44.25,29.58;43.93,28.59;50.95,28.54;66.29,28.43;77.48,28.35;77.65,27.35;66.29,27.43;50.79,27.54;43.61,27.59;43.29,26.59;50.64,26.54;66.29,26.43;77.82,26.34;77.99,25.34;66.29,25.43;50.48,25.54;42.97,25.59;42.65,24.59;50.32,24.54;66.29,24.43;76.69,24.35;73.25,23.38;66.29,23.43;50.17,23.54;42.33,23.60;42.02,22.60;50.01,22.54;66.29,22.43;69.81,22.40;66.38,21.43;66.29,21.43;49.85,21.54;44.66,21.58;47.85,20.56;49.70,20.54
LAND1.updateTime=2025-12-27 16\:33\:13
LAND1.updateTime=2025-12-27 22\:24\:22
LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
LAND1.boundaryPointInterval=-1
LAND1.createTime=2025-12-23 17\:08\:09

 set.properties

@@ -1,5 +1,5 @@
#Current work land selection updated
#Sat Dec 27 20:42:43 GMT+08:00 2025
#Mower Configuration Properties - Updated
#Sat Dec 27 22:24:35 GMT+08:00 2025
appVersion=-1
simCardNumber=-1
currentWorkLandNumber=LAND1
@@ -7,13 +7,13 @@
boundaryLengthVisible=false
idleTrailDurationSeconds=60
handheldMarkerId=1872
viewCenterX=-61.89
viewCenterY=-39.06
viewCenterX=-60.00
viewCenterY=-34.94
manualBoundaryDrawingMode=false
mowerId=6258
serialPortName=COM15
serialAutoConnect=true
mapScale=17.84
mapScale=12.39
measurementModeEnabled=false
firmwareVersion=-1
cuttingWidth=200

 src/lujing/YixinglujingNoObstacle.java

@@ -1,8 +1,6 @@
package lujing;

import java.util.*;
import java.util.Set;
import java.util.HashSet;

/**
 * 异形草地路径规划 - 凹多边形兼容优化版 V5.0
@@ -322,12 +320,21 @@
    }

    private static int getEdgeIndex(Point p, List<Point> poly) {
        int bestIdx = -1;
        double minD = Double.MAX_VALUE;
        for (int i = 0; i < poly.size(); i++) {
            Point p1 = poly.get(i);
            Point p2 = poly.get((i + 1) % poly.size());
            if (distToSegment(p, p1, p2) < 1e-3) return i;
            double d = distToSegment(p, p1, p2);
            if (d < minD) {
                minD = d;
                bestIdx = i;
        }
        return -1;
        }
        // 只要找到最近的边即可，放宽阈值以应对浮点误差和旋转变形
        // 如果距离过大（例如超过1米），可能确实不在边界上，但在路径规划上下文中，
        // 这些点是由扫描线生成的，理论上一定在边界上，所以强制吸附是安全的。
        return minD < 1.0 ? bestIdx : -1;
    }
    
    private static double distToSegment(Point p, Point s, Point e) {

 user.properties

@@ -1,9 +1,9 @@
#Updated User Properties
#Sat Dec 27 20:42:59 GMT+08:00 2025
#Sat Dec 27 21:15:06 GMT+08:00 2025
registrationTime=-1
lastLoginTime=1766747566698
lastLoginTime=1766841306666
password=123456
rememberPassword=0
rememberPassword=1
language=zh
userName=981894274@qq.com
userId=-1