%?避障
close?all;
figure;
axis（[016016]）;
box?off;
hold?on;
set（gca‘xtick‘[012345678910111213141516]‘ytick‘[0123456789101112131415]）;
set（gcf‘Position‘[463?218?400?500]）;
plot（[01616][16160]‘k‘）;
text（516.5‘邊界‘）;
text（167‘邊‘）;
text（169‘界‘）;
rectangle（‘Position‘[1.351.35]‘FaceColor‘‘M‘）;
rectangle（‘Position‘[41.372]‘FaceColor‘‘G‘‘Curvature‘[11]）;
?
x1=5+cos（linspace（pi/2pi*1.5100））;y1=2.3+sin（linspace（pi/2pi*1.5100））;
x2=10+cos（linspace（-pi/2pi/2100））;y2=2.3+sin（linspace（-pi/2pi/2100））;
fill（[x1x2][y1y2]‘G‘）;
F=fill（6+2*cos（