关键词：差56dd28f273506fd31b094595efb90f6ff65ddad664da9a5a75d26dd0721bb684分扰e24ef703fad6f07c68fb3b105f7a6d19aeb2fc48d6b1d20debd871ec982a89ed动；堆优化算法；巡检机器人；路径规划