中文说明：机器人通过直线和圆弧转弯，绕过障碍物，到达目标点的问题，解决了到达目标点路径最短，以及到达A点时间最短的问题。文章将路径划分为若干个这种线圆结构来求解。对于途中经过节点的再到达目标点的状况，我们采用了在拐点和节点最小转弯半径的形式.
English Description：
The robot turns by straight line and circular arc, bypasses the obstacles and reaches the target point, which solves the problem of the shortest path to the target point and the shortest time to a point. This paper divides the path into several lines and circles to solve the problem. For the situation of passing through nodes and then reaching the target point, we adopt the form of minimum turning radius at inflection point and nodes