路径规划2

map1: map1= [0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 1 0 1 1 0 1 1 0 0 1 1 0 1 1 0 1 1 0 1 1 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 1 1 0 1 1 0 1 1 0 1 1 0 0 1 1 0 1 1 0 1 1 0 1 1 0 0 1 1 0 0 0 0 0 0 0 1 1 0 0 1 0

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