模拟无人机空中规划寻迹，从起点出发，在经过途中必须经过的点后，回至起点，同时要避开障碍物(Simulated UAV aerial planning traces, from the starting point, after the way must go through the points, back to the starting point, while avoiding obstacles)

模拟了无人机遇到障碍物自动避障的原理，并且加了大量的注释！(The principle of UAV avoiding obstacles automatically is simulated, and a lot of comments are added!)