//畫出路綫 if (i < paths.size() && paths[i].size() > 1 && paths[i][0] != nullptr) { QPainterPath path; path.moveTo(paths[i][0]->x, paths[i][0]->y); for (int k = 1; k < paths[i].size(); k++) { if (paths[i][k] != nullptr) { path.lineTo(paths[i][k]->x, paths[i][k]->y); } } if (!path.isEmpty()) { QPainter painter(this); if (painter.isActive()) { painter.setPen(QPen(Qt::red, 2)); painter.drawPath(path); } } }，修改代碼：循環所有的agv，畫出path的路徑

可以尝试以下修改代码：

for (int i = 0; i < agvs.size(); i++) {
    //畫出路綫
    if (i < paths.size() && paths[i].size() > 1 && paths[i][0] != nullptr) {
        QPainterPath path;
        path.moveTo(paths[i][0]->x, paths[i][0]->y);
        for (int k = 1; k < paths[i].size(); k++) {
            if (paths[i][k] != nullptr) {
                path.lineTo(paths[i][k]->x, paths[i][k]->y);
            }
        }
        if (!path.isEmpty()) {
            QPainter painter(this);
            if (painter.isActive()) {
                painter.setPen(QPen(Qt::red, 2));
                painter.drawPath(path);
            }
        }
    }
}

这样就会循环所有的 agv，画出每个 agv 对应的路径。