基于人工势场法的路径规划方法。compute_angle,compute_attract,compute_repulsion分别计算角度引力斥力，加上本身物理约束，从而得出合理路径。(Path planning method based on artificial potential field method. Compute_angle, compute_attract and compute_repulsion calculate the angular gravitational repulsion and the physical constraints respectively, and then obtain a reasonable path.)