for (int i = 0; i < agvs.size(); i++) { if (! paths[i].empty()) { Node* next_node = paths[i][0]; float speed = agvs[i].getSpeed(); float distance = sqrt(pow(next_node->x - agvs[i].getCurrentX(), 2) + pow(next_node->y - agvs[i].getCurrentY(), 2)); float time = distance / speed * 1000; //node_Value[next_node->x][next_node->y] = 10; QTimer::singleShot(time, this, [&, i, next_node]() { agvs[i].setCurrentX(next_node->x); agvs[i].setCurrentY(next_node->y); this->update(); // 在窗口中重绘 }); } }，添加代碼，使存儲在path中current坐標到end坐標，代入到map值變爲5

您可以尝试以下代码修改：

for (int i = 0; i < agvs.size(); i++) {
    if (! paths[i].empty()) {
        Node* next_node = paths[i][0];
        float speed = agvs[i].getSpeed();
        float distance = sqrt(pow(next_node->x - agvs[i].getCurrentX(), 2) + pow(next_node->y - agvs[i].getCurrentY(), 2));
        float time = distance / speed * 1000;
        //node_Value[next_node->x][next_node->y] = 10;
        QTimer::singleShot(time, this, [&, i, next_node]() {
            agvs[i].setCurrentX(next_node->x);
            agvs[i].setCurrentY(next_node->y);
            node_Value[next_node->x][next_node->y] = 5; // 将当前节点的值设为5
            this->update(); // 在窗口中重绘
        });
    }
}

其中，`node_Value`是存储地图节点值的数组，需要根据具体情况进行修改。