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 * 0.1)); // 计算需要移动的步数 float power_consumption = distance / 20; //_MAP[cur_x][cur_y] = 1; for (int j = 1; j <= steps; j++) { float time = j *500 / speed; // 每步所需时间 QTimer::singleShot(time, this, [&, i, next_node, cur_x, cur_y, power_consumption, j, steps]() { // if (j == 1) { // //离开当前位置时将标记设为0 // //_MAP[cur_x][cur_y] = 0; // } 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 }); } }，AGV(1,1.5) AGV(1,2) AGV(1,1.5) AGV(1,2) AGV(1,2.5) AGV(1,2.5) AGV(1,3)，爲什麽agv會出現倒退的情況，怎麽修改

为了避免AGV倒退，需要在每次移动时将原先位置的标记清除。可以通过以下方式解决：

1. 在每次移动前，将当前位置的标记清除，即_MAP[cur_x][cur_y] = 0。
2. 在移动到下一个节点时，将该节点的位置标记为1，即_MAP[next_node->x][next_node->y] = 1。

修改后的代码如下：

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 * 0.1)); // 计算需要移动的步数
    float power_consumption = distance / 20;
    //_MAP[cur_x][cur_y] = 1;
    for (int j = 1; j <= steps; j++) {
        float time = j *500 / speed; // 每步所需时间
        QTimer::singleShot(time, this, [&, i, next_node, cur_x, cur_y, power_consumption, j, steps]() {
            //_MAP[cur_x][cur_y] = 0;
            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);
            //_MAP[next_node->x][next_node->y] = 1;
            this->update(); // 在窗口中重绘
        });
    }
}