结合3次B样条曲线的曲率连续特性和遗传算法对庞大的搜索空间的组合优化能力，在考虑AUV的几何约束的情况下规划出一条光滑、连续的路径曲线。直接运行main函数将会生成三维路径曲线图，种群的平均适应度、俯仰角和曲率的变化曲线。-Combining the curvature continuity characteristics of 3 B spline curves and the combination optimization of genetic algorithm for large se

给定控制点，生成节点和B样条基函数，绘制非均匀三次B样条曲线(Given control points, generating nodes and B spline basis functions, drawing non-uniform three times B spline curves)