基于时间最短的足球机器人进攻路径规划，：足球机器人 进攻 路径 Bezier 曲线 比赛环境-Soccer robot based on the shortest path planning attacks,: soccer robot attack path Bezier curve game environment

求一项工程完成时的最短时间和路径以及关键路径。-Completion of a project seeking the shortest time and the path and critical path.