在?Webots?模拟平台中，使用?E‐puck?模拟机器人及相应?SDK?，根据每个路口的拥塞情况，进行路线规划，使得机器人可以最快到达 目的地。(The input is divided into the congestion level of the intersection and the length of the road. The map consists of 49 lattice, we follow from left to right, from the bottom to the top of the order for each grid point number 1 to 49, when the input congestion degree of each grid point and then input the input side of the time, according to u, V, W, u, V as input, the number of grid points, w to connect the two lattice path length. The rule of planning path is the minimum of a* path length +b* congestion. (a, B can take 1)　　　　　　Students who are interested in achieving dynamic changes need to set up a function that generates random numbers. Once every intersection is called, the function will randomly generate the degree of congestion at each intersection.)