# Visibility Graph

首先构建Visibility Graph： ![Alt text](../../../../.gitbook/assets/1546200430877.png) 然后随机取点并进行碰撞检测得到边： ![Alt text](../../../../.gitbook/assets/1546200410450.png) 最后规划出路径： ![Alt text](../../../../.gitbook/assets/1546200467850.png)