{"id":99833,"date":"2024-12-10T11:36:41","date_gmt":"2024-12-10T03:36:41","guid":{"rendered":"\/\/www.viralrail.com\/?p=99833"},"modified":"2024-12-10T11:36:44","modified_gmt":"2024-12-10T03:36:44","slug":"wrjbdyjqkzjs","status":"publish","type":"post","link":"\/\/www.viralrail.com\/blog\/99833.html","title":{"rendered":"\u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u6280\u672f"},"content":{"rendered":"\n<p>\u3000\u3000<strong>\u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u6280\u672f<\/strong>\u662f\u8fd1\u5e74\u6765\u65e0\u4eba\u673a\u9886\u57df\u7684\u91cd\u8981\u7814\u7a76\u65b9\u5411\uff0c\u5176\u6838\u5fc3\u5728\u4e8e\u901a\u8fc7\u591a\u79cd\u63a7\u5236\u65b9\u6cd5\u548c\u7b56\u7565\uff0c\u5b9e\u73b0\u591a\u67b6\u65e0\u4eba\u673a\u4e4b\u95f4\u7684\u534f\u540c\u3001\u9ad8\u6548\u6267\u884c\u4efb\u52a1\u3002\u4ee5\u4e0b\u662f\u5bf9\u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u6280\u672f\u7684\u8be6\u7ec6\u5206\u6790\uff1a<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u7f16\u961f\u63a7\u5236\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<ul 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class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u590d\u6742\u73af\u5883\u9002\u5e94\u6027<\/strong>\uff1a\u5982\u4f55\u5728\u590d\u6742\u591a\u53d8\u7684\u73af\u5883\u4e2d\u4fdd\u6301\u7a33\u5b9a\u9ad8\u6548\u7684\u7f16\u961f\u98de\u884c\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7b97\u6cd5\u9c81\u68d2\u6027<\/strong>\uff1a\u9700\u8981\u8fdb\u4e00\u6b65\u63d0\u9ad8\u7f16\u961f\u63a7\u5236\u7b97\u6cd5\u7684\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027\uff0c\u5c24\u5176\u662f\u5728\u672a\u77e5\u5e72\u6270\u73af\u5883\u4e0b\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6210\u672c\u964d\u4f4e<\/strong>\uff1a\u968f\u7740\u6280\u672f\u7684\u8fdb\u6b65\uff0c\u5982\u4f55\u964d\u4f4e\u6210\u672c\u4ee5\u63a8\u52a8\u5176\u5728\u66f4\u591a\u9886\u57df\u7684\u5e7f\u6cdb\u5e94\u7528\u4e5f\u662f\u4e00\u4e2a\u91cd\u8981\u8bfe\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000\u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u6280\u672f\u662f\u4e00\u4e2a\u590d\u6742\u800c\u5bcc\u6709\u6311\u6218\u6027\u7684\u9886\u57df\uff0c\u968f\u7740\u6280\u672f\u7684\u4e0d\u65ad\u53d1\u5c55\uff0c\u672a\u6765\u5c06\u5177\u5907\u66f4\u9ad8\u7684\u667a\u80fd\u5316\u6c34\u5e73\u548c\u81ea\u4e3b\u51b3\u7b56\u80fd\u529b\uff0c\u63a8\u52a8\u5176\u5728\u66f4\u591a\u9886\u57df\u7684\u5e7f\u6cdb\u5e94\u7528\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e00\u3001 \u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u6280\u672f\u4e2d\u9886\u822a-\u8ddf\u968f\u6cd5\u7684\u6700\u65b0\u6539\u8fdb\u548c\u4f18\u5316\u7b56\u7565<\/h2>\n\n\n\n<p>\u3000\u3000\u5728\u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u6280\u672f\u4e2d\uff0c\u9886\u822a-\u8ddf\u968f\u6cd5\u7684\u6700\u65b0\u6539\u8fdb\u548c\u4f18\u5316\u7b56\u7565\u4e3b\u8981\u96c6\u4e2d\u5728\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u8def\u5f84\u8ddf\u968f\u4e0e\u5168\u5c40\u5b89\u5168\u8def\u5f84\u89c4\u5212<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u6700\u65b0\u7684\u6539\u8fdb\u65b9\u6cd5\u4e4b\u4e00\u662f\u57fa\u4e8e\u8def\u5f84\u8ddf\u968f\u539f\u7406\uff0c\u901a\u8fc7\u5f15\u5165\u969c\u788d\u5a01\u80c1\u7cfb\u6570\u6539\u8fdbA\u7b97\u6cd5\uff0c\u4e3a\u9886\u822a\u65e0\u4eba\u673a\u89c4\u5212\u4ece\u8d77\u70b9\u5230\u76ee\u6807\u7684\u5168\u5c40\u5b89\u5168\u8def\u5f84\u3002\u8fd9\u79cd\u65b9\u6cd5\u4e0d\u4ec5\u63d0\u9ad8\u4e86\u65e0\u4eba\u673a\u7f16\u961f\u5728\u590d\u6742\u66f2\u7ebf\u8def\u5f84\u4e0b\u7684\u7cbe\u5ea6\u4e0e\u7a33\u5b9a\u6027\uff0c\u8fd8\u80fd\u591f\u5728\u9047\u5230\u65b0\u969c\u788d\u65f6\u5229\u7528\u6539\u8fdbA\u7b97\u6cd5\u91cd\u65b0\u89c4\u5212\u8def\u5f84\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u865a\u62df\u9886\u822a\u8005\u4e0e\u5f3a\u5316\u5b66\u4e60<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u53e6\u4e00\u79cd\u521b\u65b0\u65b9\u6cd5\u662f\u7ed3\u5408\u865a\u62df\u9886\u822a\u8005\u548c\u5f3a\u5316\u5b66\u4e60\u6280\u672f\u3002\u8be5\u65b9\u6cd5\u901a\u8fc7\u5f15\u5165\u865a\u62df\u9886\u822a\u8005\u7684\u6982\u5ff5\uff0c\u5e76\u5c06\u865a\u62df\u9886\u822a\u65e0\u4eba\u673a\u548c\u8ddf\u968f\u8005\u65e0\u4eba\u673a\u62bd\u8c61\u4e3a\u7c92\u5b50\uff0c\u5efa\u7acb\u4e8c\u7ef4\u5750\u6807\u7cfb\u6765\u5206\u6790\u5b83\u4eec\u7684\u76f8\u5bf9\u8fd0\u52a8\u72b6\u6001\u3002\u901a\u8fc7\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\u4e0d\u65ad\u4f18\u5316\u865a\u62df\u9886\u822a\u8005\u7684\u4f4d\u7f6e\uff0c\u4ece\u800c\u5b9e\u73b0\u591a\u673a\u7f16\u961f\u63a7\u5236\u7684\u4f18\u5316\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u5206\u5e03\u5f0f\u63a7\u5236\u4e0e\u6a21\u578b\u9884\u6d4b\u63a7\u5236\uff08MPC\uff09<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u5206\u5e03\u5f0f\u63a7\u5236\u65b9\u5f0f\u5728\u65e0\u4eba\u673a\u96c6\u7fa4\u7f16\u961f\u63a7\u5236\u4e2d\u4e5f\u5f97\u5230\u4e86\u5e7f\u6cdb\u5e94\u7528\u3002\u901a\u8fc7\u91c7\u7528\u5206\u5e03\u5f0f\u6a21\u578b\u9884\u6d4b\u63a7\u5236(DMPC)\u65b9\u6cd5\uff0c\u7ed3\u5408\u56fe\u8bba\u3001\u4e00\u81f4\u6027\u548c\u5206\u5e03\u5f0f\u63a7\u5236\u601d\u60f3\uff0c\u53ef\u4ee5\u6709\u6548\u5904\u7406\u961f\u5f62\u5f62\u6210\u4e0e\u4fdd\u6301\u95ee\u9898\u3002\u8fd9\u79cd\u65b9\u6cd5\u80fd\u591f\u5feb\u901f\u5f62\u6210\u961f\u5f62\u5e76\u4fdd\u6301\u7a33\u5b9a\uff0c\u540c\u65f6\u8003\u8651\u72b6\u6001\u548c\u8f93\u5165\u7ea6\u675f\uff0c\u786e\u4fdd\u7cfb\u7edf\u7684\u6e10\u8fd1\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u6545\u969c\u5904\u7406\u4e0e\u7f16\u961f\u91cd\u6784<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u9488\u5bf9\u65e0\u4eba\u673a\u6545\u969c\u60c5\u51b5\u4e0b\u7684\u5e94\u5bf9\u673a\u5236\uff0c\u4e00\u4e9b\u7814\u7a76\u63d0\u51fa\u4e86\u57fa\u4e8e\u56fe\u8bba\u7684\u9886\u822a\u8005\u91cd\u9009\u7684\u7f16\u961f\u91cd\u6784\u63a7\u5236\u65b9\u6cd5\u3002\u5f53\u9886\u822a\u8005\u51fa\u73b0\u6545\u969c\u65f6\uff0c\u901a\u8fc7\u5224\u65ad\u5176\u662f\u5426\u4e3a\u5272\u70b9\u6765\u51b3\u5b9a\u662f\u5426\u91cd\u65b0\u9009\u62e9\u9886\u822a\u8005\uff0c\u4ece\u800c\u907f\u514d\u4efb\u52a1\u5931\u8d25\u3002\u6b64\u5916\uff0c\u5b9e\u9a8c\u9a8c\u8bc1\u8868\u660e\uff0c\u5373\u4f7f\u5728\u65e0\u4eba\u673a\u51fa\u73b0\u6545\u969c\u7684\u60c5\u51b5\u4e0b\uff0c\u7f16\u961f\u961f\u5f62\u4e5f\u80fd\u4fdd\u6301\u7a33\u5b9a\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u81ea\u9002\u5e94B\u6837\u6761\u7b97\u6cd5\u4e0e\u7c92\u5b50\u7fa4\u4f18\u5316<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u7ed3\u5408\u5206\u6bb5\u81ea\u9002\u5e94B\u6837\u6761(PABS)\u65b9\u6cd5\u548c\u5feb\u901f\u7c92\u5b50\u7fa4\u4f18\u5316\u7b97\u6cd5\uff0c\u4e3a\u9886\u822a\u8005\u65e0\u4eba\u673a\u751f\u6210\u4e00\u6761\u5b89\u5168\u7684\u53c2\u8003\u822a\u8ff9\uff0c\u5e76\u6839\u636e\u8ddf\u968f\u8005\u4e0e\u9886\u822a\u8005\u4fdd\u6301\u7684\u51e0\u4f55\u5173\u7cfb\u4e3a\u8ddf\u968f\u8005\u65e0\u4eba\u673a\u751f\u6210\u53c2\u8003\u822a\u8ff9\u3002\u8fd9\u79cd\u65b9\u6cd5\u5728\u590d\u6742\u73af\u5883\u4e0b\u7684\u65e0\u4eba\u673a\u7f16\u961f\u63a7\u5236\u4e2d\u8868\u73b0\u51fa\u8272\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u6570\u636e\u9a71\u52a8\u4e0e\u7ebf\u6027\u4e8c\u6b21\u8c03\u8282\u5668\uff08LQR\uff09<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u6570\u636e\u9a71\u52a8\u7684\u65b9\u6cd5\u4e5f\u88ab\u7528\u4e8e\u89e3\u51b3\u590d\u6742\u7cfb\u7edf\u6a21\u578b\u4e0d\u7cbe\u786e\u7684\u95ee\u9898\u3002\u901a\u8fc7\u91c7\u7528\u7ebf\u6027\u4e8c\u6b21\u8c03\u8282\u5668(LQR)\u65b9\u6cd5\u548c\u6ed1\u6a21\u63a7\u5236\u8bbe\u8ba1\u63a7\u5236\u5668\uff0c\u6210\u529f\u5b9e\u73b0\u4e86\u7f16\u961f\u63a7\u5236\u3002\u8fd9\u79cd\u65b9\u6cd5\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u5177\u6709\u8f83\u9ad8\u7684\u5b9e\u7528\u6027\u548c\u53ef\u884c\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e8c\u3001 \u5728\u590d\u6742\u73af\u5883\u4e2d\uff0c\u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u6280\u672f\u5982\u4f55\u63d0\u9ad8\u7b97\u6cd5\u7684\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027?<\/h2>\n\n\n\n<p>\u3000\u3000\u5728\u590d\u6742\u73af\u5883\u4e2d\uff0c\u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u6280\u672f\u901a\u8fc7\u591a\u79cd\u65b9\u6cd5\u63d0\u9ad8\u7b97\u6cd5\u7684\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027\u3002\u4ee5\u4e0b\u662f\u51e0\u4e2a\u5173\u952e\u65b9\u9762\u7684\u8be6\u7ec6\u5206\u6790\uff1a<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u8f7b\u91cf\u5316\u548c\u9ad8\u6548\u7b97\u6cd5<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u4e3a\u4e86\u5728\u590d\u6742\u73af\u5883\u4e2d\u4fdd\u6301\u9ad8\u6548\u8fd0\u884c\uff0c\u65e0\u4eba\u673a\u7f16\u961f\u9700\u8981\u8f7b\u91cf\u5316\u7b97\u6cd5\uff0c\u51cf\u5c11\u5197\u4f59\u90e8\u5206\uff0c\u786e\u4fdd\u5176\u6027\u80fd\u4e0d\u88ab\u524a\u5f31\u3002\u4f8b\u5982\uff0cfast-planner\u548cego-planner\u5206\u522b\u4ecb\u7ecd\u4e86\u5feb\u901f\u8def\u5f84\u91cd\u89c4\u5212\u548c\u57fa\u4e8e\u68af\u5ea6\u4f18\u5316\u4e0e\u62d3\u6251\u8def\u5f84\u7684\u5b9e\u65f6\u65e0\u4eba\u673a\u91cd\u89c4\u5212\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u9c81\u68d2\u6027\u589e\u5f3a<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u9c81\u68d2\u6027\u662f\u65e0\u4eba\u673a\u7f16\u961f\u5728\u590d\u6742\u73af\u5883\u4e2d\u4fdd\u6301\u7a33\u5b9a\u6027\u7684\u5173\u952e\u3002\u901a\u8fc7\u589e\u5f3a\u65e0\u4eba\u673a\u5bf9\u5e72\u6270\u7684\u62b5\u6297\u80fd\u529b\uff0c\u53ef\u4ee5\u786e\u4fdd\u5176\u5b89\u5168\u53ef\u9760\u3002\u4f8b\u5982\uff0cCMPCC\u3001VID-Fusion\u548cVIMO\u5206\u522b\u63a2\u8ba8\u4e86\u57fa\u4e8e\u8d70\u5eca\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u3001\u89c6\u89c9\u60ef\u6027\u52a8\u529b\u5b66\u91cc\u7a0b\u8ba1\u548c\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u7684\u9c81\u68d2\u8fd0\u52a8\u89c4\u5212\u3002\u6b64\u5916\uff0c\u9c81\u68d2\u4f18\u5316\u7b97\u6cd5\u80fd\u591f\u62b5\u5fa1\u5916\u90e8\u5e72\u6270\uff0c\u4fdd\u6301\u7cfb\u7edf\u7a33\u5b9a\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u654f\u6377\u5316\u548c\u5b9e\u65f6\u89c4\u5212<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u5728\u7ea6\u675f\u6761\u4ef6\u4e0b\uff0c\u65e0\u4eba\u673a\u9700\u8981\u80fd\u591f\u5b9e\u65f6\u4e14\u53ef\u884c\u5730\u5b8c\u6210\u89c4\u5212\u4efb\u52a1\u3002Teach-Repeat-Replan\u548cEfficient mixed-integer planning\u5206\u522b\u4ecb\u7ecd\u4e86\u590d\u6742\u73af\u5883\u4e0b\u7684\u4e3b\u52a8\u98de\u884c\u7cfb\u7edf\u548c\u6df7\u5408\u6574\u6570\u89c4\u5212\u65b9\u6cd5\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u80fd\u591f\u4f7f\u65e0\u4eba\u673a\u5728\u590d\u6742\u73af\u5883\u4e2d\u7075\u6d3b\u5e94\u5bf9\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u591a\u65e0\u4eba\u673a\u534f\u540c\u4e0e\u5206\u5e03\u5f0f\u63a7\u5236<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u591a\u65e0\u4eba\u673a\u534f\u540c\u5de5\u4f5c\u80fd\u591f\u63d0\u9ad8\u4efb\u52a1\u6267\u884c\u6548\u7387\u548c\u7cfb\u7edf\u53ef\u9760\u6027\u3002\u4f8b\u5982\uff0cEGO-Swarm\u548cDistributed Swarm Trajectory Optimization\u5206\u522b\u63a2\u8ba8\u4e86\u65e0\u4eba\u673a\u7f16\u961f\u7684\u81ea\u4e3b\u5206\u5e03\u5f0f\u7cfb\u7edf\u548c\u5bc6\u96c6\u73af\u5883\u4e0b\u7684\u7f16\u961f\u98de\u884c\u4f18\u5316\u3002\u5206\u5e03\u5f0f\u63a7\u5236\u7b56\u7565\u9010\u6e10\u6210\u4e3a\u4e3b\u6d41\uff0c\u4ee5\u9002\u5e94\u7a81\u53d1\u60c5\u51b5\u5e76\u63d0\u9ad8\u7f16\u961f\u7684\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u901a\u4fe1\u548c\u4fe1\u606f\u4ea4\u4e92\u673a\u5236<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u5408\u7406\u7684\u4fe1\u606f\u4ea4\u4e92\u673a\u5236\u662f\u65e0\u4eba\u673a\u7fa4\u5feb\u901f\u6536\u655b\u4e8e\u9884\u5b9a\u961f\u5f62\u3001\u52a0\u5f3a\u7cfb\u7edf\u9c81\u68d2\u6027\u7684\u5173\u952e\u3002\u8bbe\u8ba1\u9ad8\u6548\u7684\u901a\u4fe1\u534f\u8bae\u548c\u6570\u636e\u4f20\u8f93\u673a\u5236\uff0c\u4ee5\u786e\u4fdd\u4fe1\u606f\u5728\u65e0\u4eba\u673a\u4e4b\u95f4\u80fd\u591f\u5feb\u901f\u4e14\u51c6\u786e\u5730\u4f20\u9012\u3002\u6b64\u5916\uff0c\u91c7\u7528\u5148\u8fdb\u7684\u4fe1\u606f\u96c6\u6210\u6280\u672f\u548c\u5206\u5e03\u5f0f\u63a7\u5236\u7b97\u6cd5\uff0c\u786e\u4fdd\u5404\u65e0\u4eba\u673a\u4e4b\u95f4\u7684\u9ad8\u6548\u534f\u8c03\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u9632\u78b0\u649e\u4e0e\u907f\u969c\u6280\u672f<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u9632\u78b0\u649e\u63a7\u5236\u662f\u7f16\u961f\u63a7\u5236\u7684\u91cd\u8981\u65b9\u9762\uff0c\u9700\u8981\u907f\u514d\u673a\u95f4\u78b0\u649e\uff0c\u786e\u4fdd\u7f16\u961f\u7684\u7a33\u5b9a\u6027\u548c\u5b89\u5168\u6027\u3002\u4f8b\u5982\uff0c\u6700\u8fd1\u90bb\u7b97\u6cd5\u548c\u865a\u62df\u52bf\u573a\u7b97\u6cd5\u7b49\u78b0\u649e\u907f\u514d\u6280\u672f\u5728\u591a\u65e0\u4eba\u673a\u7f16\u961f\u98de\u884c\u4e2d\u5f97\u5230\u4e86\u5e7f\u6cdb\u5e94\u7528\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u667a\u80fd\u7b97\u6cd5\u4e0e\u81ea\u9002\u5e94\u63a7\u5236<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u81ea\u9002\u5e94\u63a7\u5236\u7b97\u6cd5\u80fd\u591f\u7075\u6d3b\u5e94\u5bf9\u73af\u5883\u53d8\u5316\uff0c\u5982\u821e\u8005\u968f\u97f3\u4e50\u53d8\u6362\u821e\u6b65\u3002\u9c81\u68d2\u4f18\u5316\u7b97\u6cd5\u5219\u5982\u540c\u6742\u6280\u6f14\u5458\u5728\u98ce\u4e2d\u4fdd\u6301\u5e73\u8861\uff0c\u62b5\u5fa1\u5e72\u6270\uff0c\u4fdd\u6301\u7a33\u5b9a\u3002\u7fa4\u4f53\u667a\u80fd\u7b97\u6cd5\u548c\u673a\u5668\u5b66\u4e60\u7b97\u6cd5\u7684\u5e94\u7528\uff0c\u4f7f\u5f97\u65e0\u4eba\u673a\u96c6\u7fa4\u80fd\u591f\u81ea\u4e3b\u5b66\u4e60\u548c\u63d0\u5347\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u4eff\u771f\u4e0e\u9a8c\u8bc1<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u901a\u8fc7\u6a21\u62df\u7f16\u961f\u98de\u884c\u8fc7\u7a0b\uff0c\u9a8c\u8bc1\u548c\u4f18\u5316\u7f16\u961f\u63a7\u5236\u7b97\u6cd5\u3002\u4f8b\u5982\uff0c\u91c7\u7528\u957f\u673a-\u50da\u673a\u7ed3\u6784\u7684\u7f16\u961f\u8fd0\u52a8\u6a21\u578b\uff0c\u8bbe\u8ba1\u4e86\u5c0f\u8111\u6a21\u578b\u795e\u7ecf\u7f51\u7edc(CMAC)\u4e0ePID\u5e76\u884c\u63a7\u5236\u5668\uff0c\u4ee5\u5b9e\u73b0\u7f16\u961f\u961f\u5f62\u4fdd\u6301\u4e0e\u91cd\u6784\uff0c\u5177\u6709\u8f83\u5f3a\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000\u4e09\u3001 \u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u4e2d\u7684\u6df7\u5408\u5f0f\u63a7\u5236\u67b6\u6784\u5177\u4f53\u662f\u5982\u4f55\u5b9e\u73b0\u7684?<\/h2>\n\n\n\n<p>\u3000\u3000\u65e0\u4eba\u673a\u7f16\u961f\u4e0e\u96c6\u7fa4\u63a7\u5236\u4e2d\u7684\u6df7\u5408\u5f0f\u63a7\u5236\u67b6\u6784\u901a\u8fc7\u7ed3\u5408\u96c6\u4e2d\u5f0f\u548c\u5206\u5e03\u5f0f\u63a7\u5236\u7684\u4f18\u70b9\uff0c\u5b9e\u73b0\u9ad8\u6548\u3001\u7075\u6d3b\u4e14\u7a33\u5b9a\u7684\u96c6\u7fa4\u7ba1\u7406\u3002\u5177\u4f53\u5b9e\u73b0\u65b9\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u63a7\u5236\u7ed3\u6784\u8bbe\u8ba1<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u6df7\u5408\u5f0f\u63a7\u5236\u67b6\u6784\u7ed3\u5408\u4e86\u96c6\u4e2d\u5f0f\u548c\u5206\u5e03\u5f0f\u63a7\u5236\u7684\u4f18\u70b9\uff0c\u65e2\u5305\u542b\u7edf\u4e00\u5168\u5c40\u7684\u4e2d\u592e\u7ba1\u7406\u6a21\u5757\uff0c\u4e5f\u91c7\u7528\u5206\u5e03\u5f0f\u7ed3\u6784\u4e2d\u6bcf\u4e2a\u6210\u5458\u65e0\u4eba\u673a\u4e4b\u95f4\u7684\u901a\u4fe1\u65b9\u5f0f\u3002\u5728\u65e0\u4eba\u673a\u96c6\u7fa4\u4e2d\uff0c\u901a\u5e38\u5c06\u65e0\u4eba\u673a\u5206\u4e3a\u4e2d\u5fc3\u957f\u673a\u3001\u5c0f\u7ec4\u957f\u673a\u548c\u4e2a\u4f53\u65e0\u4eba\u673a\u4e09\u4e2a\u5c42\u6b21\uff0c\u9ad8\u5c42\u7ea7\u5bf9\u4f4e\u5c42\u7ea7\u91c7\u7528\u81ea\u4e0a\u800c\u4e0b\u7684\u96c6\u4e2d\u5f0f\u63a7\u5236\uff0c\u540c\u5c42\u7ea7\u91c7\u7528\u81ea\u4e0b\u800c\u4e0a\u7684\u5206\u5e03\u5f0f\u63a7\u5236\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u901a\u4fe1\u4e0e\u6570\u636e\u4f20\u8f93<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u6df7\u5408\u5f0f\u63a7\u5236\u67b6\u6784\u4f9d\u8d56\u4e8e\u9ad8\u6548\u7684\u901a\u4fe1\u6280\u672f\uff0c\u4ee5\u786e\u4fdd\u5b9e\u65f6\u6570\u636e\u4f20\u8f93\u548c\u4efb\u52a1\u6307\u4ee4\u7684\u51c6\u786e\u4f20\u9012\u3002\u4f8b\u5982\uff0c\u4f7f\u7528socket\u901a\u8baf\u6a21\u5757\u8fdb\u884c\u5b57\u8282\u7ea7\u6570\u636e\u4f20\u8f93\uff0c\u4ee5\u53ca\u5229\u7528ROS\u901a\u8baf\u5b9e\u73b0\u5206\u5e03\u5f0f\u96c6\u7fa4\u7f16\u961f\u3002\u8fd9\u79cd\u901a\u4fe1\u65b9\u5f0f\u80fd\u591f\u6709\u6548\u51cf\u5c11\u6570\u636e\u4e22\u5931\u548c\u5ef6\u8fdf\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u8def\u5f84\u89c4\u5212\u4e0e\u907f\u969c<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u5728\u8def\u5f84\u89c4\u5212\u65b9\u9762\uff0c\u6df7\u5408\u5f0f\u63a7\u5236\u67b6\u6784\u91c7\u7528\u57fa\u4e8e\u7403\u5f62\u51e0\u4f55\u4f53\u7684\u7f16\u961f\u907f\u969c\u7b97\u6cd5\uff0c\u786e\u4fdd\u65e0\u4eba\u673a\u5728\u65e0GPS\u73af\u5883\u4e0b\u4e5f\u80fd\u9ad8\u6548\u907f\u969c\u3002\u6b64\u5916\uff0c\u8fd8\u7ed3\u5408\u4e86\u57fa\u4e8e\u4fe1\u606f\u4e00\u81f4\u6027\u7684\u5206\u5e03\u5f0f\u63a7\u5236\u5668\uff0c\u901a\u8fc7\u77e9\u9635\u76f8\u4f3c\u53d8\u6362\u5c06\u9ad8\u7ef4\u5f02\u6784\u7684\u6df7\u5408\u7f16\u961f\u63a7\u5236\u7cfb\u7edf\u964d\u7ef4\u62c6\u5206\u4e3a\u82e5\u5e72\u7b49\u4ef7\u7684\u4f4e\u7ef4\u5b50\u7cfb\u7edf\uff0c\u4ece\u800c\u964d\u4f4e\u7a33\u5b9a\u6027\u5206\u6790\u7684\u89e3\u6790\u96be\u5ea6\u548c\u8fd0\u7b97\u91cf\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u534f\u540c\u4efb\u52a1\u89c4\u5212<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u6df7\u5408\u5f0f\u63a7\u5236\u67b6\u6784\u901a\u8fc7\u8bbe\u8ba1\u4e2a\u4f53\u884c\u4e3a\u89c4\u5219\u548c\u5c40\u90e8\u63a7\u5236\u65b9\u6848\uff0c\u5b9e\u73b0\u65e0\u4eba\u673a\u96c6\u7fa4\u7684\u534f\u540c\u4f5c\u4e1a\u3002\u4f8b\u5982\uff0c\u5728\u56fa\u5b9a\u7ffc\u65e0\u4eba\u673a\u7f16\u961f\u98de\u884c\u8fc7\u7a0b\u4e2d\uff0c\u4e3b\u8282\u70b9\u96c6\u4e2d\u5f0f\u5730\u786e\u5b9a\u65e0\u4eba\u673a\u5728\u7f16\u961f\u4e2d\u7684\u4f4d\u7f6e\u5206\u914d\u65b9\u6848\uff0c\u4ece\u8282\u70b9\u5206\u5e03\u5f0f\u5730\u8ba1\u7b97\u81ea\u8eab\u7684Dubins\u8def\u5f84\u5e76\u8c03\u6574\u504f\u822a\u89d2\uff0c\u7136\u540e\u81ea\u4e3b\u8c03\u6574\u8282\u70b9\u7684\u822a\u901f\u4ee5\u5b9e\u73b0\u7f16\u961f\u7684\u72b6\u6001\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u4eff\u771f\u4e0e\u9a8c\u8bc1<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u901a\u8fc7\u4eff\u771f\u8bd5\u9a8c\u9a8c\u8bc1\u6df7\u5408\u5f0f\u63a7\u5236\u67b6\u6784\u7684\u6709\u6548\u6027\u3002\u4f8b\u5982\uff0c\u5728\u7f16\u961f\u96c6\u7ed3\u4e0e\u4fdd\u6301\u4efb\u52a1\u80cc\u666f\u4e0b\uff0c\u5bf9\u5206\u5e03\u5f0f\u3001\u96c6\u4e2d\u5f0f\u4e0e\u6df7\u5408\u5f0f\u4e09\u79cd\u63a7\u5236\u8fdb\u884c\u5bf9\u6bd4\u4eff\u771f\uff0c\u7ed3\u679c\u8868\u660e\u57fa\u4e8e\u6df7\u5408\u5f0f\u63a7\u5236\u7684\u96c6\u7fa4\u5728\u7f16\u961f\u53ef\u63a7\u6027\u3001\u8ddf\u968f\u6027\u3001\u4e00\u81f4\u6027\u4ee5\u53ca\u964d\u4f4e\u901a\u4fe1\u8d1f\u8f7d\u7b49\u65b9\u9762\u5177\u6709\u660e\u663e\u4f18\u52bf\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u5e94\u7528\u573a\u666f<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u6df7\u5408\u5f0f\u63a7\u5236\u67b6\u6784\u9002\u7528\u4e8e\u591a\u79cd\u5e94\u7528\u573a\u666f\uff0c\u5982\u519b\u4e8b\u4f5c\u6218\u3001\u6c11\u7528\u6551\u63f4\u7b49\u3002\u5176\u7075\u6d3b\u6027\u548c\u7a33\u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