A perpendicular bisector of a chord passes through the centre and bisects the arc.
弦的垂直平分线经过圆心，并且平分弦所对的两条弧。
Path Planning Layer: Research and realization of perpendicular bisector method and potential field method of classical methods.
运动规划层：对经典运动规划方法中垂线法和虚力场法进行了研究和实现。
Path Planning Layer: Research and realization of perpendicular bisector method and potential field method of classical methods.
运动规划层：对经典运动规划方法中垂线法和虚力场法进行了研究和实现。
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