if (! paths[i].empty()) { double cur_x = agvs[i].current_x; double cur_y = agvs[i].current_y; Node* next_node = paths[i][0]; float speed = agvs[i].getSpeed(); float distance = sqrt(pow(next_node->x - cur_x, 2) + pow(next_node->y - cur_y, 2)); int steps = ceil(distance / (speed * 0.01)); // 计算需要移动的步数 float power_consumption = distance / 20; for (int j = 1; j <= steps; j++) { float time = j * 100.0 / speed;// 每步所需时间 QTimer::singleShot(time, this, [&, i, next_node, cur_x, cur_y, power_consumption, j, steps]() { float ratio = static_cast<float>(j) / steps; double new_x = cur_x + ratio * (next_node->x - cur_x); double new_y = cur_y + ratio * (next_node->y - cur_y); agvs[i].setCurrentX(new_x); agvs[i].setCurrentY(new_y); std:: cout <<"AGV"<<"("<< new_x << "," << new_y << ")" << endl; // 更新电量 agvs[i].setpower(agvs[i].power_ - power_consumption / steps); this->update(); // 在窗口中重绘 }); } }，添加代碼：在执行下一步移动前，先判断当前步骤的移动是否已经完成，如果未完成，就等待 QTimer 完成当前步骤的移动再进行下一步移动。

可以在每次启动 QTimer 时，将其返回的 QTimer 对象保存到一个数组中，然后在下一步移动前，判断前一步移动是否已完成，如果未完成，则等待 QTimer 完成当前步骤的移动再进行下一步移动。具体的代码如下：

QTimer* timer = nullptr;
QVector<QTimer*> timers;

if (! paths[i].empty()) {
    double cur_x = agvs[i].current_x;
    double cur_y = agvs[i].current_y;
    Node* next_node = paths[i][0];
    float speed = agvs[i].getSpeed();
    float distance = sqrt(pow(next_node->x - cur_x, 2) + pow(next_node->y - cur_y, 2));
    int steps = ceil(distance / (speed * 0.01)); // 计算需要移动的步数
    float power_consumption = distance / 20;
    for (int j = 1; j <= steps; j++) {
        float time = j * 100.0 / speed;// 每步所需时间
        timer = new QTimer(this);
        timers.append(timer);
        connect(timer, &QTimer::timeout, this, [=]() {
            float ratio = static_cast<float>(j) / steps;
            double new_x = cur_x + ratio * (next_node->x - cur_x);
            double new_y = cur_y + ratio * (next_node->y - cur_y);
            agvs[i].setCurrentX(new_x);
            agvs[i].setCurrentY(new_y);
            std::cout <<"AGV"<<"("<< new_x << "," << new_y << ")" << std::endl;
            // 更新电量
            agvs[i].setpower(agvs[i].power_ - power_consumption / steps);
            this->update(); // 在窗口中重绘
        });
        if (!timers.isEmpty()) {
            QTimer* preTimer = timers.last();
            if (preTimer->isActive()) {
                QTimer::singleShot(preTimer->remainingTime(), this, [=]() {
                    timer->start(time - preTimer->remainingTime());
                });
            } else {
                timer->start(time);
            }
        } else {
            timer->start(time);
        }
    }
}

这样，在每次启动 QTimer 时，就将其返回的 QTimer 对象保存到 `timers` 数组中，然后判断前一步移动是否已完成，如果未完成，则等待 QTimer 完成当前步骤的移动再进行下一步移动。这样可以避免 AGV 倒退的现象。