From d58d5e1baf9390d4119f48c4af3fbcf308da10a3 Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 22:46:10 +0800
Subject: [PATCH] 进一步优化了异形无障碍物路径规划算法

---
 dikuai.properties |   42 ++++++++++++++++--------------------------
 1 files changed, 16 insertions(+), 26 deletions(-)

diff --git a/dikuai.properties b/dikuai.properties
index 57a6cac..1a6c196 100644
--- a/dikuai.properties
+++ b/dikuai.properties
@@ -1,36 +1,26 @@
 #Dikuai Properties
-#Sat Dec 20 12:24:28 GMT+08:00 2025
-LAND2.boundaryCoordinates=5.38,-6.41;-11.15,-8.94;-12.75,-4.68;-12.23,-3.28;-11.12,-3.17;-9.29,-3.53;-7.46,-3.89;-5.62,-4.25;-3.79,-4.61;-1.96,-4.97;-0.12,-5.33;1.71,-5.69;3.54,-6.05;5.38,-6.41
+#Sat Dec 27 22:43:36 GMT+08:00 2025
 LAND1.intelligentSceneAnalysis=-1
-LAND1.mowingSafetyDistance=-1
-LAND1.landArea=26.75
+LAND1.mowingSafetyDistance=0.53
+LAND1.landArea=577.12
 LAND1.returnPointCoordinates=-1
 LAND1.landNumber=LAND1
-LAND2.landName=1452
-LAND2.mowingOverlapDistance=0.06
-LAND2.landArea=55.11
+LAND1.returnPathCoordinates=-1
 LAND1.mowingPattern=骞宠绾�
 LAND1.mowingOverlapDistance=0.06
-LAND2.updateTime=2025-12-20 12\:24\:28
-LAND2.createTime=2025-12-20 12\:24\:28
-LAND1.mowingWidth=34
-LAND2.mowingWidth=34
-LAND1.plannedPath=-5.830841,-2.644443;-12.323966,-4.153883;-12.276978,-4.492026;-6.161845,-3.070456;-6.492848,-3.496470;-12.229991,-4.830169;-12.183003,-5.168312;-6.823852,-3.922484;-7.154855,-4.348497;-12.136016,-5.506455;-12.089028,-5.844598;-7.487144,-4.774810;-7.821079,-5.201505;-12.042040,-6.182741;-11.995053,-6.520885;-8.155014,-5.628200;-8.700347,-6.104039;-11.948065,-6.859028;-11.901077,-7.197171;-10.070186,-6.771548;-11.440025,-7.439057;-11.854090,-7.535314
-LAND1.updateTime=2025-12-19 19\:44\:17
-LAND2.mowingSafetyDistance=0.50
-LAND2.plannedPath=-12.031,-3.808;-10.774,-3.615;-9.790,-3.809;-12.167,-4.172;-12.302,-4.537;-8.807,-4.002;-7.823,-4.196;-12.280,-4.878;-12.158,-5.203;-6.838,-4.389;-5.852,-4.582;-12.036,-5.528;-11.914,-5.854;-4.868,-4.775;-3.884,-4.969;-11.792,-6.179;-11.670,-6.504;-2.901,-5.162;-1.917,-5.355;-11.547,-6.829;-11.425,-7.155;-0.931,-5.548;0.055,-5.741;-11.303,-7.480;-11.181,-7.805;1.038,-5.935;2.022,-6.128;-11.059,-8.130;-10.937,-8.456;3.005,-6.322
+LAND1.returnPathRawCoordinates=-1
+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;66.29,36.43;76.14,36.36;76.31,35.36;66.29,35.43;66.29,34.43;76.48,34.35;76.64,33.35;66.29,33.43;66.29,32.43;76.81,32.35;76.98,31.35;66.29,31.43;66.29,30.43;77.15,30.35;77.32,29.35;66.29,29.43;66.29,28.43;77.48,28.35;77.65,27.35;66.29,27.43;66.29,26.43;77.82,26.34;77.99,25.34;66.29,25.43;66.29,24.43;76.69,24.35;73.25,23.38;66.29,23.43;66.29,22.43;69.81,22.40;66.38,21.43;66.29,21.43;47.85,20.56;49.70,20.54;46.48,36.57;64.75,36.44;59.07,35.48;46.16,35.57;45.84,34.57;53.38,34.52;51.73,33.53;45.52,33.57;45.20,32.58;51.57,32.53;51.42,31.53;44.88,31.58;44.56,30.58;51.26,30.53;51.11,29.53;44.25,29.58;43.93,28.59;50.95,28.54;50.79,27.54;43.61,27.59;43.29,26.59;50.64,26.54;50.48,25.54;42.97,25.59;42.65,24.59;50.32,24.54;50.17,23.54;42.33,23.60;42.02,22.60;50.01,22.54;49.85,21.54;44.66,21.58
+LAND1.updateTime=2025-12-27 22\:43\:36
 LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
-LAND2.boundaryOriginalCoordinates=39.831468,116.279941,49.29;39.831465,116.279925,49.33;39.831463,116.279908,49.34;39.831462,116.279891,49.35;39.831461,116.279874,49.33;39.831458,116.279859,49.34;39.831456,116.279843,49.32;39.831454,116.279827,49.32;39.831452,116.279813,49.42;39.831450,116.279798,49.41;39.831448,116.279783,49.36;39.831447,116.279769,49.26;39.831445,116.279757,49.24;39.831445,116.279747,49.38;39.831448,116.279741,49.27;39.831455,116.279736,49.26;39.831463,116.279733,49.26;39.831473,116.279731,49.26;39.831483,116.279729,49.25;39.831491,116.279730,49.26;39.831496,116.279735,49.22;39.831497,116.279748,49.27
 LAND1.boundaryPointInterval=-1
-LAND1.createTime=2025-12-19 18\:31\:53
-LAND1.userId=-1
+LAND1.createTime=2025-12-23 17\:08\:09
 LAND1.angleThreshold=-1
-LAND2.mowingBladeWidth=0.40
-LAND1.landName=21233
+LAND1.userId=-1
+LAND1.landName=123
 LAND1.mowingTrack=-1
-LAND2.baseStationCoordinates=3949.89151752,N,11616.79267501,E
-LAND1.boundaryOriginalCoordinates=39.831445,116.279757,49.24;39.831445,116.279747,49.38;39.831448,116.279741,49.27;39.831455,116.279736,49.26;39.831463,116.279733,49.26;39.831473,116.279731,49.26;39.831483,116.279729,49.25;39.831491,116.279730,49.26;39.831496,116.279735,49.22;39.831497,116.279748,49.27;39.831498,116.279762,49.27;39.831500,116.279776,49.34;39.831502,116.279791,49.32;39.831504,116.279805,49.27;39.831507,116.279820,49.28
-LAND1.boundaryCoordinates=-10.36,-8.92;-12.10,-7.80;-12.66,-3.77;-4.96,-1.98;-6.04,-3.37;-7.12,-4.76;-8.20,-6.14;-9.28,-7.53;-10.36,-8.92
-LAND2.mowingPattern=骞宠绾�
-LAND2.landNumber=LAND2
-LAND1.mowingBladeWidth=0.40
+LAND1.boundaryOriginalCoordinates=39.831522,116.279873,49.25;39.831524,116.279878,49.25;39.831525,116.279878,49.24;39.831524,116.279912,49.30;39.831524,116.279911,49.29;39.831523,116.279911,49.23;39.831521,116.279915,49.31;39.831517,116.279925,49.34;39.831514,116.279940,49.30;39.831514,116.279957,49.28;39.831516,116.279974,49.28;39.831518,116.279991,49.29;39.831521,116.280008,49.24;39.831524,116.280025,49.30;39.831526,116.280042,49.24;39.831529,116.280059,49.29;39.831529,116.280076,49.26;39.831530,116.280093,49.32;39.831531,116.280110,49.28;39.831533,116.280127,49.28;39.831535,116.280144,49.26;39.831539,116.280161,49.27;39.831544,116.280175,49.25;39.831551,116.280190,49.24;39.831558,116.280204,49.26;39.831566,116.280219,49.26;39.831574,116.280234,49.22;39.831583,116.280248,49.24;39.831591,116.280260,49.24;39.831600,116.280272,49.23;39.831608,116.280285,49.18;39.831615,116.280298,49.12;39.831618,116.280312,49.11;39.831618,116.280328,49.12;39.831615,116.280342,49.15;39.831610,116.280356,49.21;39.831602,116.280369,49.23;39.831592,116.280379,49.25;39.831581,116.280388,49.25;39.831569,116.280394,49.19;39.831559,116.280395,49.23;39.831552,116.280387,49.28;39.831547,116.280373,49.32;39.831544,116.280357,49.33;39.831541,116.280340,49.29;39.831539,116.280324,49.27;39.831536,116.280307,49.24;39.831534,116.280290,49.25;39.831531,116.280273,49.26;39.831527,116.280257,49.28;39.831522,116.280242,49.21;39.831514,116.280232,49.28;39.831504,116.280229,49.24;39.831491,116.280230,49.33;39.831478,116.280233,49.34;39.831466,116.280236,49.31;39.831454,116.280239,49.31;39.831441,116.280242,49.26;39.831429,116.280244,49.23;39.831416,116.280247,49.25;39.831402,116.280250,49.22;39.831389,116.280253,49.25;39.831376,116.280256,49.26;39.831364,116.280258,49.24;39.831351,116.280261,49.25;39.831338,116.280265,49.26;39.831324,116.280268,49.20;39.831311,116.280271,49.16;39.831298,116.280274,49.17;39.831285,116.280277,49.22;39.831271,116.280278,49.16;39.831261,116.280273,49.23
+LAND1.obstacleCoordinates=-1
+LAND1.boundaryCoordinates=50.39,50.57;74.32,50.40;78.69,24.37;65.76,20.70;65.76,36.07;52.31,33.80;50.04,19.30;41.30,22.10
+LAND1.mowingBladeWidth=0.51

--
Gitblit v1.10.0