{"id":20434,"date":"2024-05-17T10:29:01","date_gmt":"2024-05-17T02:29:01","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=20434"},"modified":"2024-05-17T10:32:23","modified_gmt":"2024-05-17T02:32:23","slug":"%e8%b7%af%e5%be%84%e8%a7%84%e5%88%92%e6%a6%82%e8%bf%b0%ef%bc%9a%e5%9f%ba%e4%ba%8e%e9%87%87%e6%a0%b7%e3%80%81%e6%90%9c%e7%b4%a2%e3%80%81%e4%bc%98%e5%8c%96%e5%85%a8%e6%90%9e%e5%ae%9a%ef%bc%81","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/05\/17\/20434\/","title":{"rendered":"\u8def\u5f84\u89c4\u5212\u6982\u8ff0\uff1a\u57fa\u4e8e\u91c7\u6837\u3001\u641c\u7d22\u3001\u4f18\u5316\u5168\u641e\u5b9a\uff01"},"content":{"rendered":"
\"\"<\/div>\n
\u672c\u6587\u4ecb\u7ecd\u4e86\u5f53\u524d\u8def\u5f84\u89c4\u5212\u7684\u6897\u6982\uff0c\u4e86\u89e3\u76ee\u524d\u8def\u5f84\u89c4\u5212\u6709\u90a3\u4e9b\u65b9\u6cd5\u3002\u5185\u5bb9\u5f88\u7e41\u6742\uff0c\u5f88\u96be\u5728\u6ca1\u6709\u5b9e\u9645\u5e94\u7528\u5bfc\u5411\u7684\u60c5\u51b5\u4e0b\u4e0b\u77ed\u671f\u5168\u90e8\u5b66\u901a\uff0c\u53ea\u80fd\u5728\u9700\u8981\u7684\u65f6\u5019\u518d\u91cd\u70b9\u5b66\u4e60\u3002<\/div>\n
\n
\n

\u672c\u6587\u7ecf\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u516c\u4f17\u53f7\u6388\u6743\u8f6c\u8f7d\uff0c\u8f6c\u8f7d\u8bf7\u8054\u7cfb\u51fa\u5904\u3002<\/p>\n

1 \u51b3\u7b56\u63a7\u5236\u4e0e\u8fd0\u52a8\u89c4\u5212\u6982\u8ff0<\/h3>\n

\u76ee\u524d\u51b3\u7b56\u63a7\u5236\u65b9\u6cd5\u53ef\u4ee5\u5206\u4e3a\u4e09\u7c7b\uff1asequential planning\u3001behavior-aware planning\u3001\u548cend-to-end planning\u3002<\/p>\n

<\/p>\n

    \n
  • sequential planning\uff1a\u6700\u4f20\u7edf\u7684\u65b9\u6cd5\uff0c\u611f\u77e5<\/strong>\u3001\u51b3\u7b56<\/strong>\u4e0e\u63a7\u5236<\/strong>\u4e09\u4e2a\u90e8\u5206\u5c42\u6b21\u8f83\u4e3a\u6e05\u6670\uff1b<\/li>\n
  • behavior-aware planning\uff1a\u76f8\u6bd4\u7b2c\u4e00\u79cd\u4eae\u70b9\u5728\u4e8e\u5f15\u5165\u4eba\u673a\u5171\u9a7e\u3001\u8f66\u8def\u534f\u540c\u4ee5\u53ca\u8f66\u8f86\u5bf9\u5916\u90e8\u52a8\u6001\u73af\u5883\u7684\u98ce\u9669\u9884\u4f30\uff1b<\/li>\n
  • end-to-end planning\uff1aDL\u3001DRL\u6280\u672f\uff0c\u501f\u52a9\u5927\u91cf\u7684\u6570\u636e\u8bad\u7ec3\uff0c\u83b7\u5f97\u4ece\u56fe\u50cf\u7b49\u611f\u77e5\u4fe1\u606f\u5230\u65b9\u5411\u76d8\u8f6c\u89d2\u7b49\u8f66\u8f86\u63a7\u5236\u8f93\u5165\u7684\u5173\u7cfb\uff0c\u5c5e\u4e8e\u65f6\u4e0b\u6700\u70ed\u95e8\u7684\u65b9\u6cd5\u4e4b\u4e00\u3002<\/li>\n<\/ul>\n

    \u672c\u6587\u5c06\u5bf9sequential planning\u8fdb\u884c\u4ecb\u7ecd\uff0c\u6309\u7167\u6574\u4e2a\u51b3\u7b56\u63a7\u5236\u987a\u5e8f<\/strong>\u8bb2\u8ff0\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u611f\u77e5\u63a7\u5236\u8fc7\u7a0b\uff0c\u6700\u540e\u4f1a\u7b80\u8981\u603b\u7ed3\u4e00\u4e0b\u524d\u6587\u6240\u63d0\u5230\u7684\u5f85\u89e3\u51b3\u7684\u95ee\u9898\u3002<\/p>\n

    <\/p>\n

    Control architecture for automated vehicles<\/p>\n

    2 \u8def\u5f84\u89c4\u5212\u6982\u8ff0<\/h3>\n

    sequential planning \u7684\u8fc7\u7a0b\u7b80\u8981\u6982\u62ec\u4e3a\u8def\u5f84\u89c4\u5212<\/strong>->\u51b3\u7b56\u8fc7\u7a0b<\/strong>->\u8f66\u8f86\u63a7\u5236<\/strong>\uff0c\u672c\u6587\u8bb2\u8ff0\u7684\u8def\u5f84\u89c4\u5212\u5c5e\u4e8e\u7b2c\u4e00\u6b65\u4e0e\u7b2c\u4e09\u6b65\u3002<\/p>\n

    <\/p>\n

    https:\/\/mediatum.ub.tum.de\/doc\/1523134\/74110395763.pdf<\/p>\n

    \u5728\u65e0\u4eba\u8f66\u7684\u8fd0\u52a8\u8f68\u8ff9\u751f\u6210\u95ee\u9898\u4e0a\uff0c\u6709\u76f4\u63a5\u8f68\u8ff9\u751f\u6210\u6cd5<\/strong>\u4e0e\u8def\u5f84-\u901f\u5ea6\u5206\u89e3\u6cd5<\/strong>\u4e24\u79cd\uff0c\u76f8\u6bd4\u7b2c\u4e00\u79cd\uff0c\u8def\u5f84-\u901f\u5ea6\u96be\u5ea6\u66f4\u5c0f\uff0c\u56e0\u6b64\u66f4\u52a0\u5e38\u7528\u3002<\/p>\n

    2.1 \u8def\u5f84\u89c4\u5212\u7684\u7c7b\u578b<\/h3>\n

    \u8def\u5f84\u89c4\u5212\u53ef\u5206\u4e3a\u56db\u5927\u7c7b\uff1a\u4ee5PRM\u3001RRT\u4e3a\u4ee3\u8868\u7684\u57fa\u4e8e\u91c7\u6837<\/strong>\u7684\u7b97\u6cd5\u3001\u4ee5\u4e3aA* \u3001D* \u4ee3\u8868\u7684\u57fa\u4e8e\u641c\u7d22<\/strong>\u7684\u7b97\u6cd5\u3001\u4ee5\u03b2\u6837\u6761\u66f2\u7ebf\u4e3a\u4ee3\u8868\u7684\u57fa\u4e8e\u63d2\u503c<\/strong>\u62df\u5408\u7684\u8f68\u8ff9\u751f\u6210\u7b97\u6cd5\uff0c\u548c\u4ee5MPC\u4e3a\u4ee3\u8868\u7684\u7528\u4e8e\u5c40\u90e8\u8def\u5f84\u89c4\u5212\u7684\u6700\u4f18<\/strong>\u63a7\u5236\u7b97\u6cd5\u3002\u672c\u5c0f\u8282\u5c06\u6309\u7167\u4e0a\u8ff0\u987a\u5e8f\u9010\u4e00\u8bb2\u89e3\uff1a<\/p>\n

    <\/p>\n

    A Review of Motion Planning Techniquesfor Automated Vehicles<\/p>\n

    2.2 \u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u4f18\u7f3a\u70b9<\/h3>\n

    <\/p>\n

    3 \u8def\u5f84\u89c4\u5212\u65b9\u6cd5<\/h2>\n

    3.1 \u57fa\u4e8e\u91c7\u6837\u7684\u7b97\u6cd5<\/h3>\n

    3.1.1 \u57fa\u672c\u7b97\u6cd5PRM\u4e0eRRT<\/h4>\n

    <\/p>\n

    (1) PRM<\/strong><\/p>\n

    PRM\u7b97\u6cd5\uff08Probabilistic Road Map\uff09\u3002PRM\u4e3b\u8981\u5305\u542b\u4e86\u4e24\u4e2a\u6b65\u9aa4\uff0c\u4e00\u662f\u5b66\u4e60\u9636\u6bb5\uff0c\u4e8c\u662f\u67e5\u8be2\u9636\u6bb5\u3002<\/p>\n

    \u7b2c\u4e00\u6b65\uff0c\u5b66\u4e60\u9636\u6bb5\uff1a\u5bf9\u72b6\u6001\u7a7a\u95f4\u5185\u7684\u5b89\u5168\u533a\u57df\u5747\u5300\u968f\u673a\u91c7\u6837\uff4e\u4e2a\u70b9\uff0c\u5e76\u5220\u9664\u91c7\u6837\u843d\u5728\u969c\u788d\u7269\u4e0a\u7684\u70b9\uff0c\u63a5\u7740\u5bf9\u76f8\u90bb\u7684\u70b9\u8fdb\u884c\u8fde\u63a5\u5e76\u505a\u78b0\u649e\u68c0\u6d4b\uff0c\u5254\u9664\u4e0d\u662fcollision-free\u7684\u8fde\u7ebf\uff0c\u6700\u7ec8\u5f97\u5230\u4e00\u4e2a\u8fde\u901a\u56fe\u3002<\/p>\n

    \u7b2c\u4e8c\u6b65\uff0c\u67e5\u8be2\u9636\u6bb5\uff1a\u5bf9\u4e8e\u7ed9\u5b9a\u7684\u4e00\u5bf9\u521d\u59cb\u548c\u76ee\u6807\u72b6\u6001\uff0c\u5229\u7528\u4e0a\u4e00\u6b65\u6784\u5efa\u597d\u7684\u91c7\u6837\u8282\u70b9\u53ca\u8fde\u7eed\uff0c\u8fd0\u7528\u56fe\u641c\u7d22\u7684\u65b9\u6cd5\uff08Dijkstra\u6216\u8005A*\uff09\u6765\u627e\u51fa\u4e00\u6761\u53ef\u884c\u8def\u5f84\u3002<\/p>\n

    \u5b8c\u6210PRM\u6784\u5efa\u540e\uff0c\u5c31\u53ef\u4ee5\u7528\u4e8e\u89e3\u51b3\u4e0d\u540c\u521d\u59cb\u3001\u76ee\u6807\u72b6\u6001\u7684\u8fd0\u52a8\u89c4\u5212\u95ee\u9898\uff0c\u4f46\u662f\u8fd9\u4e2a\u7279\u6027\u5bf9\u4e8e\u65e0\u4eba\u8f66\u8fd0\u52a8\u89c4\u5212\u800c\u8a00\u662f\u4e0d\u5fc5\u8981\u7684\u3002\u53e6\u5916PRM\u8981\u6c42\u5bf9\u72b6\u6001\u4e4b\u95f4\u4f5c\u7cbe\u786e\u8fde\u63a5\uff0c\u8fd9\u5bf9\u4e8e\u5b58\u5728\u590d\u6742\u5fae\u5206\u7ea6\u675f\u7684\u8fd0\u52a8\u89c4\u5212\u95ee\u9898\u662f\u5341\u5206\u56f0\u96be\u7684\u3002<\/p>\n

    (2) RRT<\/strong><\/p>\n

    RRT (Rapidly-exploring Random Tree)\u7b97\u6cd5\u3002RRT\u5176\u5b9e\u4ee3\u8868\u4e86\u4e00\u7cfb\u5217\u57fa\u4e8e\u968f\u673a\u751f\u957f\u6811<\/strong>\u601d\u60f3\u7684\u7b97\u6cd5\uff0c\u662f\u76ee\u524d\u673a\u5668\u4eba\u9886\u57df\u8fd0\u7528\u6700\u5e7f\u6cdb\u3001\u4f18\u5316\u53d8\u79cd\u6700\u591a\u7684\u4e00\u7c7b\u7b97\u6cd5.<\/p>\n

    <\/p>\n

    \u2460 \u6811\u521d\u59cb\u5316\uff1a\u521d\u59cb\u5316\u6811\u7684\u7ed3\u70b9\u96c6\u548c\u8fb9\u96c6\uff0c\u7ed3\u70b9\u96c6\u53ea\u5305\u542b\u521d\u59cb\u72b6\u6001\uff0c\u8fb9\u96c6\u4e3a\u7a7a\uff1b<\/p>\n

    \u2461 \u6811\u7684\u751f\u957f\uff1a\u5bf9\u72b6\u6001\u7a7a\u95f4\u968f\u673a\u91c7\u6837\uff0c\u5f53\u91c7\u6837\u70b9\u843d\u5728\u72b6\u6001\u7a7a\u95f4\u5b89\u5168\u533a\u57df\u65f6\uff0c\u9009\u62e9\u5f53\u524d\u6811\u4e2d\u79bb\u91c7\u6837\u70b9\u6700\u8fd1\u7684\u7ed3\u70b9\uff0c\u5c06\u5176\u5411\u91c7\u6837\u70b9\u6269\u5c55\u8fde\u63a5\uff1b\u82e5\u751f\u6210\u7684\u8f68\u8ff9\u4e0d\u4e0e\u969c\u788d\u7269\u53d1\u751f\u78b0\u649e\uff0c\u5219\u5c06\u8be5\u8f68\u8ff9\u52a0\u5165\u6811\u7684\u8fb9\u96c6\uff0c\u8be5\u8f68\u8ff9\u7684\u7ec8\u70b9\u52a0\u5165\u5230\u6811\u7684\u7ed3\u70b9\u96c6<\/p>\n

    \u2462 \u91cd\u590d\u6b65\u9aa4\u2461\uff0c\u76f4\u81f3\u6269\u5c55\u5230\u76ee\u6807\u72b6\u6001\u96c6\u4e2d\uff0c\u76f8\u6bd4PRM\u7684\u65e0\u5411\u56fe\u800c\u8a00\uff0cRRT\u6784\u5efa\u7684\u662f\u521d\u59cb\u72b6\u6001\u4f5c\u4e3a\u6839\u7ed3\u70b9\u3001\u76ee\u6807\u72b6\u6001\u4f5c\u4e3a\u53f6\u7ed3\u70b9\u7684\u6811\u7ed3\u6784\uff0c\u5bf9\u4e8e\u4e0d\u540c\u7684\u521d\u59cb\u548c\u76ee\u6807\u72b6\u6001\uff0c\u9700\u8981\u6784\u5efa\u4e0d\u540c\u7684\u6811\u3002<\/p>\n

    RRT\u4e0d\u8981\u6c42\u72b6\u6001\u4e4b\u95f4\u7684\u7cbe\u786e\u8fde\u63a5\uff0c\u66f4\u9002\u5408\u89e3\u51b3\u50cf\u65e0\u4eba\u8f66\u8fd0\u52a8\u89c4\u5212\u8fd9\u6837\u7684\u8fd0\u52a8\u52a8\u529b\u5b66\u95ee\u9898\u3002<\/p>\n

    3.1.2 \u91c7\u6837\u6cd5\u7684\u95ee\u9898\u4e0e\u89e3\u51b3\u529e\u6cd5<\/h4>\n

    \u6c42\u89e3\u6548\u7387\u4e0e\u662f\u5426\u6700\u4f18\u89e3\u3002PRM\u4e0eRRT\u62e5\u6709\u6982\u7387\u5b8c\u5907\u6027\u7684\u539f\u56e0\u5728\u4e8e\u5176\u51e0\u4e4e\u4f1a\u904d\u5386\u6784\u578b\u7a7a\u95f4\u4e2d\u6240\u6709\u4f4d\u7f6e\u3002<\/p>\n

    (1) \u6c42\u89e3\u6548\u7387<\/strong><\/p>\n

    \u5728\u63d0\u5347\u6c42\u89e3\u6548\u7387<\/strong>\u65b9\u9762\uff0c\u4f18\u5316RRT\u7684\u6838\u5fc3\u601d\u60f3\u5728\u4e8e\u5f15\u5bfc\u6811\u5411\u7a7a\u65f7\u533a\u57df<\/strong>\uff0c\u5373\u5c3d\u91cf\u8fdc\u79bb\u969c\u788d\u7269\uff0c\u907f\u514d\u5bf9\u4e8e\u969c\u788d\u7269\u5904\u7684\u8282\u70b9\u7684\u91cd\u590d\u68c0\u67e5\uff0c\u4ee5\u6b64\u63d0\u5347\u6548\u7387\u3002\u4e3b\u8981\u89e3\u51b3\u65b9\u6cd5\uff1a<\/p>\n

    \u2460 \u5747\u5300\u91c7\u6837<\/strong><\/p>\n

    \u6807\u51c6RRT\u7b97\u6cd5\u5bf9\u72b6\u6001\u7a7a\u95f4\u5747\u5300\u968f\u673a<\/strong>\u91c7\u6837\uff0c\u5f53\u524d\u6811\u4e2d\u7ed3\u70b9\u83b7\u5f97\u6269\u5c55\u7684\u6982\u7387<\/strong>\u4e0e\u5176Voronoi\u533a\u57df\u9762\u79ef<\/strong>\u6210\u6b63\u6bd4\uff0c\u6240\u4ee5\u6811\u4f1a\u5411\u7740\u72b6\u6001\u7a7a\u95f4\u7684\u7a7a\u65f7\u533a\u57df\u751f\u957f<\/strong>\uff0c\u5747\u5300\u5145\u6ee1\u72b6\u6001\u7a7a\u95f4\u7684\u81ea\u7531\u533a\u57df\u3002<\/p>\n

    RRT-connect\u7b97\u6cd5\u540c\u65f6\u6784\u5efa\u4e24\u68f5\u5206\u522b\u8d77\u59cb\u4e8e\u521d\u59cb<\/strong>\u72b6\u6001\u548c\u76ee\u6807<\/strong>\u72b6\u6001\u7684\u6811\uff0c\u5f53\u4e24\u68f5\u6811\u751f\u957f\u5230\u4e00\u8d77<\/strong>\u65f6\u5219\u627e\u5230\u53ef\u884c\u89e3\u3002Go-biaing\u5728\u968f\u673a\u91c7\u6837\u5e8f\u5217\u4e2d\u4ee5\u4e00\u5b9a\u6bd4\u4f8b\u63d2\u5165\u76ee\u6807\u72b6\u6001\uff0c\u5f15\u5bfc\u6811\u5411\u76ee\u6807\u72b6\u6001\u6269\u5c55\uff0c\u52a0\u5feb\u6c42\u89e3\u901f\u5ea6\uff0c\u63d0\u9ad8\u6c42\u89e3\u8d28\u91cf\u3002<\/p>\n

    heuristic RRT\u4f7f\u7528\u542f\u53d1\u5f0f\u51fd\u6570\u589e\u52a0\u6269\u5c55\u4ee3\u4ef7\u4f4e\u7684\u7ed3\u70b9\u88ab\u91c7\u6837\u7684\u6982\u7387\uff0c\u8ba1\u7b97\u6811\u4e2d\u6bcf\u4e2a\u7ed3\u70b9\u7684\u4ee3\u4ef7\uff0c\u4f46\u662f\u5728\u590d\u6742\u73af\u5883\u4e2d\uff0c\u4ee3\u4ef7\u51fd\u6570\u7684\u5b9a\u4e49\u56f0\u96be\u7684\uff0c\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0cf-biased\u91c7\u6837\u65b9\u6cd5\u5148\u5c06\u72b6\u6001\u7a7a\u95f4\u79bb\u6563\u5316\u4e3a\u7f51\u683c\uff0c\u518d\u4f7f\u7528Dijkstra\u7b97\u6cd5\u8ba1\u7b97\u6bcf\u4e2a\u7f51\u683c\u4e0a\u7684\u4ee3\u4ef7\uff0c\u8fd9\u4e2a\u7f51\u683c\u6240\u5728\u533a\u57df\u7684\u70b9\u7684\u4ee3\u4ef7\u503c\u90fd\u7b49\u4e8e\u8be5\u503c\uff0c\u4ee5\u6b64\u6784\u5efa\u542f\u53d1\u5f0f\u51fd\u6570\u3002<\/p>\n

    \u2461 \u4f18\u5316\u8ddd\u79bb\u5ea6\u91cf<\/strong><\/p>\n

    \u8ddd\u79bb\u7528\u6765\u5ea6\u91cf\u4e24\u4e2a\u6784\u5f62\u4e4b\u95f4\u8def\u5f84\u7684\u4ee3\u4ef7\uff0c\u8f85\u52a9\u751f\u6210\u542f\u53d1\u5f0f\u4ee3\u4ef7\u51fd\u6570\uff0c\u5f15\u5bfc\u6811\u7684\u8d70\u5411\u3002\u4f46\u5728\u8003\u8651\u969c\u788d\u7269\u7684\u60c5\u51b5\u4e0b\uff0c\u8ddd\u79bb\u8ba1\u7b97\u7684\u96be\u5ea6\u9ad8\uff0c\u8fd0\u52a8\u89c4\u5212\u4e2d\u8ddd\u79bb\u7684\u5b9a\u4e49\u91c7\u7528\u7c7b\u4f3c\u6b27\u6c0f\u8ddd\u79bb\u7684\u5b9a\u4e49\u3002RG-RRT \uff08rechability guided RRT\uff09\u53ef\u4ee5\u6d88\u9664\u4e0d\u51c6\u786e\u7684\u8ddd\u79bb\u5bf9RRT\u63a2\u7d22\u80fd\u529b\u7684\u5f71\u54cd\uff0c\u5b83\u9700\u8981\u8ba1\u7b97\u6811\u4e2d\u7ed3\u70b9\u7684\u80fd\u8fbe\u96c6\uff0c\u5f53\u91c7\u6837\u70b9\u5230\u7ed3\u70b9\u7684\u8ddd\u79bb\u5927\u4e8e\u5230\u8be5\u7ed3\u70b9\u80fd\u8fbe\u96c6\u7684\u8ddd\u79bb\u65f6\uff0c\u8be5\u8282\u70b9\u624d\u6709\u53ef\u80fd\u88ab\u9009\u4e2d\u8fdb\u884c\u6269\u5c55\u3002<\/p>\n

    \u2462 \u964d\u4f4e\u78b0\u649e\u68c0\u67e5\u6b21\u6570<\/strong><\/p>\n

    \u78b0\u649e\u68c0\u67e5\u91c7\u6837\u6cd5\u7684\u6548\u7387\u74f6\u9888\u4e4b\u4e00\uff0c\u901a\u5e38\u7684\u505a\u6cd5\u662f\u5bf9\u8def\u5f84\u7b49\u8ddd\u79bb\u79bb\u6563\u5316<\/strong>\uff0c\u518d\u5bf9\u6bcf\u4e2a\u70b9\u5904\u7684\u6784\u5f62\u4f5c\u78b0\u649e\u68c0\u67e5\u3002resolution complete RRT\u901a\u8fc7\u964d\u4f4e\u9760\u8fd1\u969c\u788d\u7269\u7684\u7ed3\u70b9<\/strong>\u83b7\u5f97\u6269\u5c55\u7684\u6982\u7387\uff0c\u5b83\u5bf9\u8f93\u5165\u7a7a\u95f4\u79bb\u6563\u5316\uff0c\u5bf9\u4e8e\u67d0\u4e2a\u7ed3\u70b9\u8f93\u5165\u53ea\u4f7f\u7528\u4e00\u6b21\uff1b\u82e5\u67d0\u4e2a\u8f93\u5165\u5bf9\u5e94\u7684\u8f68\u8ff9\u4e0e\u969c\u788d\u7269\u78b0\u649e\uff0c\u5219\u5bf9\u8be5\u8282\u70b9\u52a0\u4e0a\u4e00\u4e2a\u60e9\u7f5a\u503c\uff0c\u8be5\u60e9\u7f5a\u503c\u8d8a\u9ad8\uff0c\u8be5\u8282\u70b9\u83b7\u5f97\u6269\u5c55\u7684\u6982\u7387\u8d8a\u5c0f\u3002dynamic domain RRT\u4e0eadaptive dynamic domain RRT\u9650\u5236\u91c7\u6837\u533a\u57df\u5728\u5f53\u524d\u6811\u6240\u5728\u7684\u5c40\u90e8\u7a7a\u95f4\uff0c\u4ee5\u9632\u6b62\u9760\u8fd1\u969c\u788d\u7269\u7684\u7ed3\u70b9\u53cd\u590d\u6269\u5c55\u5931\u8d25\uff0c\u63d0\u9ad8\u7b97\u6cd5\u6548\u7387\u3002<\/p>\n

    \u2463 \u63d0\u5347\u5b9e\u65f6\u6027<\/strong><\/p>\n

    Anytime RRT\u5148\u5feb\u901f\u6784\u5efa\u4e00\u4e2a RRT\uff0c\u83b7\u5f97\u4e00\u4e2a\u53ef\u884c\u89e3\u5e76\u8bb0\u5f55\u5176\u4ee3\u4ef7\uff0c\u4e4b\u540e\u7ee7\u7eed\u91c7\u6837\uff0c\u4f46\u4ec5\u5c06\u6709\u5229\u4e8e\u964d\u4f4e\u53ef\u884c\u89e3\u4ee3\u4ef7\u7684\u7ed3\u70b9\u63d2\u5165\u6811\u4e2d\uff0c\u4ece\u800c\u9010\u6e10\u83b7\u5f97\u8f83\u4f18\u7684\u53ef\u884c\u89e3\u3002Replanning\u5c06\u6574\u4e2a\u89c4\u5212\u4efb\u52a1\u5206\u89e3\u4e3a\u82e5\u5e72\u7b49\u65f6\u95f4\u7684\u5b50\u4efb\u52a1\u5e8f\u5217\uff0c\u5728\u6267\u884c\u5f53\u524d\u4efb\u52a1\u7684\u540c\u65f6\u89c4\u5212\u4e0b\u4e00\u4e2a\u4efb\u52a1\u3002<\/p>\n

    (2) \u5728\u89e3\u51b3\u6700\u4f18\u6027<\/strong>\u95ee\u9898\u4e0a\u4e3b\u8981\u6709\u4ee5\u4e0b\u65b9\u6cd5\uff1a<\/p>\n

    RGG\u7b97\u6cd5\uff08random geometric graph\uff09\uff1a\u6839\u636e\u968f\u673a\u51e0\u4f55\u56fe\u7406\u8bba\u5bf9\u6807\u51c6PRM\u548cRRT \u6539\u8fdb\u7684\u5177\u6709\u6e10\u8fd1\u6700\u4f18\u6027\u8d28\u7684PRM\u3001RRG\u548cRRT\u00a0\u7b97\u6cd5\uff0c\u5728\u72b6\u6001\u7a7a\u95f4\u4e2d\u968f\u673a\u91c7\u6837\uff4e\u4e2a\u70b9\uff0c\u5e76\u5c06\u8ddd\u79bb\u5c0f\u4e8er(n)\u7684\u70b9\u8fde\u8d77\u6765\uff0c\u5c31\u6784\u6210\u4e86RGG\u3002<\/p>\n

    RRT* \u7b97\u6cd5\uff1a\u5728RRG\u57fa\u7840\u4e0a\u5f15\u5165\u201c\u91cd\u65b0\u8fde\u63a5\u201d\u6b65\u9aa4\uff0c\u68c0\u67e5\u65b0\u63d2\u5165\u7ed3\u70b9\u4f5c\u4e3a\u5176\u4e34\u8fd1\u70b9\u7684\u7236\u7ed3\u70b9\u662f\u5426\u4f1a\u4f7f\u5176\u4e34\u8fd1\u70b9\u7684\u4ee3\u4ef7\u964d\u4f4e\uff0c\u82e5\u964d\u4f4e\uff0c\u5219\u53bb\u6389\u4e34\u8fd1\u70b9\u539f\u6765\u7684\u7236\u5b50\u5173\u7cfb\uff0c\u5c06\u5f53\u524d\u63d2\u5165\u70b9\u4f5c\u4e3a\u5176\u7236\u7ed3\u70b9\uff0c\u8fd9\u5c31\u662fRRT*\u7b97\u6cd5\u3002<\/p>\n

    LBT-RRT\u7b97\u6cd5\uff1a\u5927\u91cf\u7684\u7ed3\u70b9\u8fde\u63a5\u548c\u5c40\u90e8\u8c03\u6574\u4f7f\u5f97PRM\u548cRRT\u7684\u6548\u7387\u5341\u5206\u4f4e\u4e0b\u3002LBT-RRT\u7b97\u6cd5\u5c06RRG\u548cRRT* \u7b97\u6cd5\u7ed3\u5408\u8d77\u6765\uff0c\u5728\u83b7\u5f97\u6e10\u8fdb\u6700\u4f18\u6027\u7684\u524d\u63d0\u4e0b\uff0c\u83b7\u53d6\u66f4\u9ad8\u7684\u6548\u7387\u3002<\/p>\n

    3.2 \u57fa\u4e8e\u641c\u7d22\u7684\u7b97\u6cd5<\/h3>\n

    \u57fa\u672c\u601d\u60f3\u662f\u5c06\u72b6\u6001\u7a7a\u95f4<\/strong>\u901a\u8fc7\u786e\u5b9a\u7684\u65b9\u5f0f\u79bb\u6563\u6210\u4e00\u4e2a\u56fe<\/strong>\uff0c\u7136\u540e\u5229\u7528\u5404\u79cd\u542f\u53d1\u5f0f\u641c\u7d22\u7b97\u6cd5<\/strong>\u641c\u7d22\u53ef\u884c\u89e3<\/strong>\u751a\u81f3\u662f\u6700\u4f18\u89e3<\/strong>\uff0c\u8be5\u79cd\u7c7b\u522b\u7b97\u6cd5\u6bd4\u8f83\u6210\u719f\u3002<\/p>\n

    <\/p>\n

    \u57fa\u4e8e\u641c\u7d22\u7684\u7b97\u6cd5\u7684\u57fa\u7840\u662f\u72b6\u6001\u683c\u5b50\uff0c\u72b6\u6001\u683c\u5b50\u662f\u72b6\u6001\u7a7a\u95f4\u79bb\u6563\u5316\uff0c\u7531\u72b6\u6001\u7ed3\u70b9\u548c\u4ece\u8be5\u7ed3\u70b9\u51fa\u53d1\u5230\u8fbe\u76f8\u90bb\u7ed3\u70b9\u7684\u8fd0\u52a8\u57fa\u5143\u7ec4\u6210\uff0c\u4e00\u4e2a\u72b6\u6001\u7ed3\u70b9\u53ef\u4ee5\u901a\u8fc7\u5176\u8fd0\u52a8\u57fa\u5143\u53d8\u6362\u5230\u53e6\u4e00\u4e2a\u72b6\u6001\u7ed3\u70b9\u3002\u72b6\u6001\u683c\u5b50\u5c31\u5c06\u539f\u6765\u8fde\u7eed\u7684\u72b6\u6001\u7a7a\u95f4\u8f6c\u5316\u4e3a\u4e00\u4e2a\u641c\u7d22\u56fe\uff0c\u8fd0\u52a8\u89c4\u5212\u95ee\u9898\u5c31\u53d8\u6210\u4e86\u5728\u56fe\u4e2d\u641c\u7d22\u51fa\u4e00\u7cfb\u5217\u5c06\u521d\u59cb\u72b6\u6001\u53d8\u6362\u5230\u76ee\u6807\u72b6\u6001\u8fd0\u52a8\u57fa\u5143\uff0c\u6784\u5efa\u8d77\u72b6\u6001\u683c\u5b50\u540e\u5c31\u53ef\u4ee5\u4f7f\u7528\u56fe\u641c\u7d22\u7b97\u6cd5\u6765\u641c\u7d22\u6700\u4f18\u8f68\u8ff9\u3002<\/p>\n

    3.2.1 \u57fa\u7840\u7b97\u6cd5Dijkstra\u3001A*\u7684\u6784\u5efa<\/h4>\n

    Dijkstra\u7b97\u6cd5\u904d\u5386\u6574\u4e2a\u6784\u578b\u7a7a\u95f4\uff0c\u627e\u51fa\u6bcf\u4e24\u4e2a\u683c\u5b50\u4e4b\u95f4\u7684\u8ddd\u79bb\uff0c\u6700\u540e\u9009\u62e9\u51fa\u53d1\u70b9\u5230\u76ee\u6807\u70b9\u7684\u6700\u77ed\u8def\u5f84\uff0c\u5176\u5e7f\u5ea6\u4f18\u5148\u7684\u6027\u8d28\u5bfc\u81f4\u6548\u7387\u5f88\u4f4e\uff0c\u5728\u8be5\u7b97\u6cd5\u7684\u57fa\u7840\u4e0a\u52a0\u5165\u542f\u53d1\u5f0f\u51fd\u6570\uff0c\u5373\u6240\u641c\u7d22\u7ed3\u70b9\u5230\u76ee\u6807\u8282\u70b9\u7684\u8ddd\u79bb\uff0c\u5e76\u4ee5\u6b64\u4e3a\u57fa\u7840\u518d\u6b21\u8fdb\u884c\u641c\u7d22\u53ef\u907f\u514d\u5168\u5c40\u641c\u7d22\u5e26\u6765\u7684\u6548\u7387\u4f4e\u4e0b\uff0c\u8fd9\u5373\u4e3aA*\u7b97\u6cd5\uff0c\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u7ea2\u8272\u4e3a\u641c\u7d22\u533a\u57df\u3002<\/p>\n

    <\/p>\n

    \u56fe6\uff1aA*\u4e0eDijkstra\u7b97\u6cd5\u6548\u679c\u5bf9\u6bd4\u56fe<\/p>\n

    3.2.2 \u641c\u7d22\u6cd5\u7684\u95ee\u9898\u4e0e\u5efa\u8bae<\/h4>\n

    \u4e0e\u57fa\u4e8e\u91c7\u6837\u7684\u7b97\u6cd5\u76f8\u540c\uff0c\u8fd9\u79cd\u7c7b\u522b\u7684\u7b97\u6cd5\u4e5f\u9700\u8981\u505a\u6548\u7387\u4e0e\u6700\u4f18\u6027\u7684\u4f18\u5316\u3002<\/p>\n

    \u5728\u63d0\u5347\u6548\u7387\u4e0a\u9762\uff0cA* \u672c\u8eab\u5c5e\u4e8e\u9759\u6001\u89c4\u5212\u7684\u7b97\u6cd5\uff0c\u9488\u5bf9A* \u7b97\u6cd5\u7684\u5ef6\u7533\u6709weighted A* \u901a\u8fc7\u589e\u52a0\u542f\u53d1\u5f0f\u51fd\u6570\u7684\u6743\u91cd\u8fdb\u4e00\u6b65\u5f15\u5bfc\u641c\u7d22\u65b9\u5411\u5411\u8fd9\u76ee\u6807\u8282\u70b9\u8fdb\u884c\uff0c\u641c\u7d22\u901f\u5ea6\u5f88\u5feb\uff0c\u4f46\u662f\u5bb9\u6613\u9677\u5165\u5c40\u90e8\u6781\u5c0f\u503c\uff0c\u65e0\u6cd5\u4fdd\u8bc1\u5168\u5c40\u6700\u4f18\u89e3\u3002<\/p>\n

    \u5bf9\u4e8e\u8fd0\u52a8\u7684\u8f66\u8f86\u6765\u8bf4\uff0c\u4f7f\u7528A* \u7684\u884d\u751f\u7b97\u6cd5D\uff08dynamic A\uff09\u53ef\u5927\u5e45\u5ea6\u63d0\u5347\u6548\u7387\u3002\u540c\u6837\u4ee5\u52a8\u6001\u89c4\u5212\u4e3a\u57fa\u7840\u7684\u8fd8\u6709LPA\uff0c\u8be5\u7b97\u6cd5\u53ef\u4ee5\u5904\u7406\u72b6\u6001\u683c\u5b50\u7684\u8fd0\u52a8\u57fa\u5143\u7684\u4ee3\u4ef7\u662f\u65f6\u53d8\u7684\u60c5\u51b5\uff0c\u5f53\u73af\u5883\u53d1\u751f\u53d8\u5316\u65f6\u53ef\u4ee5\u901a\u8fc7\u5bf9\u8f83\u5c11\u6570\u76ee\u8282\u70b9\u7684\u91cd\u65b0\u641c\u7d22\u89c4\u5212\u51fa\u65b0\u7684\u6700\u4f18\u8def\u5f84\u3002\u5728LPA\u00a0\u7684\u57fa\u7840\u4e0a\u5f00\u53d1\u51faD*-Lite\u53ef\u4ee5\u83b7\u5f97\u4e0eD*\u540c\u6837\u7684\u7ed3\u679c\uff0c\u4f46\u662f\u6548\u7387\u66f4\u9ad8\u3002<\/p>\n

    \u5728\u8fdb\u884c\u6700\u4f18\u5316\u89e3\u7684\u63a2\u5bfb\u65f6\uff0cARA* \u662f\u5728Weighted A* \u57fa\u7840\u4e0a\u53d1\u5c55\u51fa\u7684\u5177\u6709Anytime\u6027\u8d28\u7684\u641c\u7d22\u7b97\u6cd5\uff0c\u5b83\u901a\u8fc7\u591a\u6b21\u8c03\u7528Weighted A* \u7b97\u6cd5\u4e14\u6bcf\u6b21\u8c03\u7528\u5c31\u7f29\u5c0f\u542f\u53d1\u5f0f\u51fd\u6570\u7684\u6743\u91cd\uff0c\u8fd9\u6837\u7b97\u6cd5\u53ef\u4ee5\u5feb\u901f\u6c42\u51fa\u53ef\u884c\u89e3\uff0c\u901a\u8fc7\u5f15\u5165\u96c6\u5408INCONS\u4f7f\u5f97\u6bcf\u6b21\u5faa\u73af\u53ef\u4ee5\u7ee7\u7eed\u4f7f\u7528\u4e0a\u4e00\u6b21\u5faa\u73af\u7684\u4fe1\u606f\uff0c\u5bf9\u8def\u5f84\u505a\u51fa\u4f18\u5316\uff0c\u9010\u6e10\u903c\u8fd1\u6700\u4f18\u89e3\u3002<\/p>\n

    \u5728\u517c\u987e\u7b97\u6cd5\u6548\u7387\u4e0e\u6700\u4f18\u6027\u7684\u95ee\u9898\u4e0a\uff0cSandin aine\u7b49\u63d0\u51fa\u4e86MHA* \u7b97\u6cd5\uff0c\u5f15\u5165\u591a\u4e2a\u542f\u53d1\u5f0f\u51fd\u6570\uff0c\u4fdd\u8bc1\u5176\u4e2d\u6709\u4e00\u4e2a\u542f\u53d1\u5f0f\u51fd\u6570\u5728\u5355\u72ec\u4f7f\u7528\u65f6\u53ef\u4ee5\u627e\u5230\u6700\u4f18\u89e3\uff0c\u4ece\u800c\u901a\u8fc7\u534f\u8c03\u4e0d\u540c\u542f\u53d1\u5f0f\u51fd\u6570\u751f\u6210\u7684\u8def\u5f84\u4ee3\u4ef7\uff0c\u53ef\u4ee5\u517c\u987e\u7b97\u6cd5\u7684\u6548\u7387\u548c\u6700\u4f18\u6027\u3002DMHA\u5728MHA\u7684\u57fa\u7840\u4e0a\u5728\u7ebf\u5b9e\u65f6\u751f\u6210\u5408\u9002\u7684\u542f\u53d1\u5f0f\u51fd\u6570\uff0c\u4ece\u800c\u907f\u514d\u5c40\u90e8\u6700\u5c0f\u503c\u95ee\u9898\u3002<\/p>\n

    3.3 \u57fa\u4e8e\u63d2\u503c\u62df\u5408\u7684\u7b97\u6cd5<\/h3>\n

    <\/p>\n

    \u57fa\u4e8e\u63d2\u503c\u62df\u5408\u7684\u7b97\u6cd5\u53ef\u88ab\u5b9a\u4e49\u4e3a\uff1a\u6839\u636e\u5df2\u77e5\u7684\u4e00\u7cfb\u5217\u7528\u4e8e\u63cf\u8ff0\u9053\u8def\u56fe\u7684\u70b9\u96c6\uff0c\u901a\u8fc7\u4f7f\u7528\u6570\u636e\u63d2\u503c<\/strong>\u4e0e\u66f2\u7ebf\u62df\u5408<\/strong>\u7684\u65b9\u5f0f\u521b\u9020\u51fa\u667a\u80fd\u8f66\u5c06\u884c\u9a76\u7684\u8def\u5f84<\/strong>\uff0c\u8be5\u8def\u5f84\u53ef\u63d0\u4f9b\u8f83\u597d\u7684\u8fde\u7eed\u6027<\/strong>\u3001\u8f83\u9ad8\u7684\u53ef\u5bfc\u6027<\/strong>\u3002\u5177\u4f53\u7684\u65b9\u6cd5\u5982\u4e0b\uff1a<\/p>\n

    Dubins\u66f2\u7ebf\u548cReeds and Sheep(RS)\u66f2\u7ebf\u662f\u8fde\u63a5\u6784\u5f62\u7a7a\u95f4\u4e2d\u4efb\u610f\u4e24\u70b9\u7684\u6700\u77ed\u8def\u5f84\uff0c\u5206\u522b\u5bf9\u5e94\u65e0\u5012\u8f66\u548c\u6709\u5012\u8f66\u7684\u60c5\u51b5\u3002\u5b83\u4eec\u90fd\u662f\u7531\u6700\u5927\u66f2\u7387\u5706\u5f27\u548c\u76f4\u7ebf\u7ec4\u6210\u7684\uff0c\u5728\u5706\u5f27\u548c\u76f4\u7ebf\u8fde\u63a5\u5904\u5b58\u5728\u66f2\u7387\u4e0d\u8fde\u7eed\uff0c\u5b9e\u9645\u8f66\u8f86\u6309\u7167\u8fd9\u6837\u66f2\u7ebf\u884c\u9a76\u65f6\u5fc5\u987b\u5728\u66f2\u7387\u4e0d\u8fde\u7eed\u5904\u505c\u8f66\u8c03\u6574\u65b9\u5411\u8f6e\u624d\u80fd\u7ee7\u7eed\u884c\u9a76\u3002<\/p>\n

    \u591a\u9879\u5f0f\u63d2\u503c\u66f2\u7ebf<\/strong>\u662f\u6700\u5e38\u7528\u7684\u4e00\u79cd\u65b9\u6cd5\uff0c\u5b83\u53ef\u4ee5\u901a\u8fc7\u6ee1\u8db3\u7ed3\u70b9\u7684\u8981\u6c42\u6765\u8bbe\u5b9a\u591a\u9879\u5f0f\u7cfb\u6570\uff0c\u5e76\u4e14\u83b7\u5f97\u8f83\u597d\u7684\u8fde\u7eed\u53ef\u5bfc\u6027\uff0c\u56db\u9636\u591a\u9879\u5f0f\u5e38\u7528\u4e8e\u7eb5\u5411\u7ea6\u675f\u63a7\u5236\uff0c\u4e94\u9636\u591a\u9879\u5f0f\u5e38\u7528\u4e8e\u6a2a\u5411\u7ea6\u675f\u63a7\u5236\uff0c\u4e09\u9636\u591a\u9879\u5f0f\u4e5f\u88ab\u7528\u4e8e\u8d85\u8f66\u8f68\u8ff9\u4e2d\u3002<\/p>\n

    \u6837\u6761\u66f2\u7ebf<\/strong>\u5177\u6709\u5c01\u95ed\u7684\u8868\u8fbe\u5f0f\uff0c\u5bb9\u6613\u4fdd\u8bc1\u66f2\u7387\u8fde\u7eed\u6027\u3002\u03b2\u6837\u6761\u66f2\u7ebf\u53ef\u4ee5\u5b9e\u73b0\u66f2\u7387\u8fde\u7eed\u6027\uff0c\u4e09\u6b21Bezier\u66f2\u7ebf\u53ef\u4ee5\u4fdd\u8bc1\u66f2\u7387\u7684\u8fde\u7eed\u6027\u548c\u6709\u754c\u6027\uff0c\u5e76\u4e14\u8ba1\u7b97\u91cf\u76f8\u5bf9\u8f83\u5c0f\u3002\u03b7^3\u66f2\u7ebf[43]\u662f\u4e00\u79cd\u4e03\u6b21\u6837\u6761\u66f2\u7ebf\uff0c\u5b83\u6709\u7740\u5f88\u597d\u7684\u6027\u8d28\uff1a\u66f2\u7387\u8fde\u7eed\u6027\u548c\u66f2\u7387\u5bfc\u6570\u7684\u8fde\u7eed\u6027\uff0c\u8fd9\u5bf9\u4e8e\u9ad8\u901f\u884c\u9a76\u8f66\u8f86\u662f\u5f88\u6709\u610f\u4e49\u7684\u3002<\/p>\n

    3.4 \u57fa\u4e8e\u6700\u4f18\u63a7\u5236\u7684\u7b97\u6cd5<\/h3>\n

    \u5c06\u57fa\u4e8e\u6700\u4f18\u63a7\u5236\u7684\u7b97\u6cd5\u5f52\u5728\u8def\u5f84\u89c4\u5212\u4e2d\uff0c\u4e3b\u8981\u662f\u56e0\u4e3a\u5176\u4e2d\u7684MPC\u53ef\u4ee5\u8fdb\u884c\u5c40\u90e8\u7684\u8def\u5f84\u89c4\u5212\u4ee5\u8fdb\u884c\u907f\u969c\uff0c\u9664\u6b64\u4e4b\u5916\uff0cMPC\u4e3b\u8981\u7684\u4f5c\u7528\u662f\u8fdb\u884c\u8f68\u8ff9\u8ddf\u8e2a\uff0c\u5176\u6240\u8003\u8651\u7684\u95ee\u9898\u9664\u4e86\u5fc5\u8981\u7684\u52a8\u529b\u5b66\u3001\u8fd0\u52a8\u5b66\u7ea6\u675f\u4ee5\u5916\uff0c\u672a\u6765\u8fd8\u5e94\u8003\u8651\u8212\u9002\u6027\u3001\u611f\u77e5\u4fe1\u606f\u7684\u4e0d\u786e\u5b9a\u6027\u3001\u8f66\u95f4\u901a\u4fe1\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u5e76\u4e14\u5728\u5c40\u90e8\u8f68\u8ff9\u89c4\u5212\u65f6\u8fd8\u53ef\u4ee5\u5c06\u9a7e\u9a76\u5458\u7eb3\u5165\u63a7\u5236\u95ed\u73af\u3002\u5bf9\u4e8e\u4ee5\u4e0a\u6240\u63d0\u5230\u7684\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u4e0e\u5c06\u9a7e\u9a76\u5458\u7eb3\u5165\u63a7\u5236\u95ed\u73af\u5c06\u5728\u7b2c\u56db\u8282\u8ba8\u8bba\u3002\u5173\u4e8eMPC\u7684\u5b66\u4e60\uff0c\u4e3b\u8981\u4ece\u4f18\u5316\u7406\u8bba\u4e0e\u5de5\u7a0b\u5b9e\u8df5\u4e24\u4e2a\u65b9\u9762\u5165\u624b<\/strong>\u3002\u5bf9\u4e8e\u524d\u8005\uff0c\u63a8\u8350Dimitri P. Bertsekas\u7684Convex Optimization Algorithms\uff0cJames B. Rawlings\u7684Model Predictive Control\uff1aTheory, Computation, and Design\u3002\u4e2d\u6587\u9886\u57df\u5218\u6d69\u6d0b\u8001\u5e08\u7684\u6700\u4f18\u5316\u4e66\u4e2a\u4eba\u89c9\u5f97\u76f8\u5bf9\u6e05\u6670\u6613\u61c2\u3002\u5bf9\u4e8e\u540e\u8005\uff0c\u9996\u5148\u9f9a\u5efa\u4f1f\u8001\u5e08\u7684\u90a3\u672c\u65e0\u4eba\u9a7e\u9a76MPC\u4e66\u5f3a\u63a8\u4e86\uff0c\u8001\u7248\u4e66\u91cc\u7684demo\u6709\u95ee\u9898\uff0c\u4e0d\u8fc7\u90fd\u5728\u65b0\u7248\u91cc\u89e3\u51b3\u4e86\u3002<\/p>\n

    MPC\u6240\u4f7f\u7528\u7684\u9884\u6d4b\u6a21\u578b\u6709\u5f88\u591a\u79cd\uff1a\u8bf8\u5982\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u3001\u6a21\u7cca\u63a7\u5236\u3001\u72b6\u6001\u7a7a\u95f4\u7b49\u7b49\uff0c\u5176\u4e2d\u7528\u7684\u6700\u591a\u7684\u4e3a\u72b6\u6001\u7a7a\u95f4\u6cd5\u3002MPC\u53ef\u7b80\u8981\u8868\u8ff0\u4e3a\uff1a\u6ee1\u8db3\u5fc5\u8981\u7684\u52a8\u529b\u5b66\u3001\u8fd0\u52a8\u5b66\u7b49\u7b49\u7ea6\u675f\u7684\u60c5\u51b5\u4e0b\uff0c\u901a\u8fc7\u6570\u503c\u624b\u6bb5\u6c42\u89e3\u6a21\u578b\u7684\u6700\u4f18\u89e3\uff0c\u8be5\u6700\u4f18\u89e3\u5373\u4e3a\u72b6\u6001\u65b9\u7a0b\u7684\u63a7\u5236\u91cf\uff0c\u5982\u65b9\u5411\u76d8\u8f6c\u89d2\u7b49\u7b49\uff0c\u5e76\u5c06\u63a7\u5236\u91cf\u4f5c\u7528\u5728\u8f66\u6a21\u4e0a\u4ee5\u83b7\u5f97\u8981\u6c42\u7684\u72b6\u6001\u91cf\uff0c\u5982\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u3001\u5750\u6807\u7b49\u7b49\u3002<\/p>\n

    \u901a\u8fc7\u4e0a\u8ff0\u63cf\u8ff0\u53ef\u77e5\uff0cMPC\u7684\u5173\u952e\u5728\u4e8e\u6a21\u578b\u7684\u5efa\u7acb\u4e0e\u6a21\u578b\u7684\u6c42\u89e3\uff0c\u5982\u4f55\u7b49\u6548\u7b80\u5316\u6a21\u578b\u7684\u5efa\u7acb\u4ee5\u53ca\u63d0\u5347\u6c42\u89e3\u7684\u6548\u7387\u662f\u91cd\u4e2d\u4e4b\u91cd\u3002\u5728\u4e0d\u540c\u7684\u63a7\u5236\u8f93\u5165\u4e0b\u8f66\u8f86\u4f1a\u8d70\u4e0d\u540c\u7684\u8f68\u8ff9\uff0c\u6bcf\u4e00\u6761\u8f68\u8ff9\u90fd\u4e0e\u4e4b\u5bf9\u5e94\u4e00\u4e2a\u76ee\u6807\u51fd\u6570\u503c\uff0c\u65e0\u4eba\u9a7e\u9a76\u8f66\u8f86\u4f1a\u901a\u8fc7\u6c42\u89e3\u7b97\u6cd5\u627e\u51fa\u6700\u5c0f\u76ee\u6807\u51fd\u6570\u503c\u5bf9\u5e94\u7684\u63a7\u5236\u91cf\uff0c\u5e76\u5c06\u5176\u4f5c\u7528\u5728\u8f66\u4e0a\uff0c\u5982\u4e0b\u56fe\u6240\u793a\uff1a<\/p>\n

    <\/p>\n

    \u4e3a\u4e86\u964d\u4f4e\u5efa\u6a21\u96be\u5ea6\uff0c\u4e5f\u6709\u4f7f\u7528\u4eba\u5de5\u52bf\u80fd\u573a\u6a21\u578b\u8fdb\u884c\u5efa\u6a21\uff0c\u4eba\u5de5\u52bf\u80fd\u573a\u7684\u57fa\u672c\u601d\u60f3\u7c7b\u4f3c\u4e8e\u7535\u573a\uff0c\u9053\u8def\u4e0a\u7684\u969c\u788d\u7269\u7c7b\u4f3c\u4e8e\u7535\u573a\u4e2d\u4e0e\u573a\u6e90\u76f8\u5f02\u7535\u8377\u6781\u6027\u7684\u7535\u8377\u3002\u969c\u788d\u7269\uff08\u52a8\u6001\u3001\u9759\u6001\uff09\u5904\u7684\u52bf\u80fd\u66f4\u9ad8\uff0c\u65e0\u4eba\u8f66\u5c06\u5411\u4f4e\u52bf\u80fd\u4f4d\u7f6e\u524d\u8fdb\u3002<\/p>\n

    4 \u5f00\u6e90\u9879\u76ee<\/h2>\n

    \u63a8\u8350\u4e00\u4e2a\u5f00\u6e90\u9879\u76eeCppRobotics\uff1a<\/p>\n

      \n
    • Path Planning<\/li>\n
    • Dijkstra<\/li>\n
    • A Star<\/li>\n
    • RRT<\/li>\n
    • Dynamic Window Approach<\/li>\n
    • Model Predictive Trajectory Generator<\/li>\n
    • Cubic Spline Planner<\/li>\n
    • State Lattice Planner<\/li>\n
    • Frenet Frame Trajectory<\/li>\n<\/ul>\n

      5 \u5b66\u4e60\u65b9\u6cd5<\/h2>\n

      \u5165\u95e8\u65b0\u9886\u57df\u7684\u5b66\u4e60\u8109\u7edc\u662f\uff1a\u5de5\u7a0b<\/strong>\u3001\u7406\u8bba<\/strong>\u4ee5\u53ca\u89c6\u91ce<\/strong>\u4e09\u9a7e\u9a6c\u8f66\u9f50\u5934\u5e76\u8fdb\uff0c\u4ee5\u8def\u5f84\u89c4\u5212\u4e3a\u4f8b\uff1a<\/p>\n

      5.1 \u5de5\u7a0b<\/h3>\n

      \u6307\u7684\u662f\u4e86\u89e3\u5404\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u5185\u5bb9\uff0c\u4e00\u8fb9\u4ece\u5e7f\u5ea6\u4e0a\u4e86\u89e3\u5404\u7b97\u6cd5\u5185\u5bb9<\/strong>\uff0c\u4e00\u8fb9\u4ece\u6df1\u5ea6\u4e0a\u6df1\u5165\u5b66\u4e60\u5404\u7b97\u6cd5\u7ec6\u8282<\/strong>\u3002\u5173\u4e8e\u8def\u5f84\u89c4\u5212\u9886\u57df\u7684\u7b97\u6cd5\uff0c\u5f53\u524d\u6ca1\u89c1\u5168\u9762\u7684\u6559\u7a0b\uff0c\u4f46\u662f\u9f9a\u5efa\u4f1f\u7684NMPC\u8fd0\u52a8\u89c4\u5212\u53ef\u4ee5\u53c2\u8003\u3002<\/p>\n

      5.2 \u7406\u8bba<\/h3>\n

      \u6307\u7684\u662f\u4e86\u89e3\u652f\u6491\u8fd9\u4e9b\u7b97\u6cd5\u8fd0\u7b97\u6570\u5b66\u539f\u7406\u4ee5\u53ca\u8fd9\u4e9b\u7b97\u6cd5\u4ea7\u751f\u7684\u539f\u56e0\uff08\u6570\u5b66\u89c6\u89d2\uff09\u3002<\/p>\n

        \n
      • \u6784\u5efa\u76ee\u6807\u51fd\u6570\u4e0e\u7ea6\u675f\u6761\u4ef6\u540c\u65f6\u6c42\u6781\u503c\u6765\u5f97\u5230\u6700\u4f18\u63a7\u5236\u91cf\uff08\u8def\u5f84\uff09\uff0c\u5c5e\u4e8e\u6700\u4f18\u5316\u7406\u8bba<\/strong>\uff1b<\/li>\n
      • \u5728\u6c42\u89e3\u6700\u4f18\u63a7\u5236\u91cf\u65f6\u5927\u5bb6\u5e38\u89c1\u7684\u725b\u987f\u6cd5\u3001\u6700\u901f\u4e0b\u964d\u6cd5\u7b49\u7b49\u8fd9\u4e9b\u6570\u503c\u6c42\u89e3\u65b9\u6cd5\uff0c\u672c\u8d28\u6765\u81ea\u4e8e\u6570\u503c\u6c42\u89e3\u4ee3\u6570\u7b49\u5f0f\u65b9\u7a0b\uff0c\u5c5e\u4e8e\u6570\u503c\u5206\u6790<\/strong>\uff1b<\/li>\n
      • \u6c42\u89e3\u8fc7\u7a0b\u4e2d\u6240\u89c1\u5230\u7684\u5bfc\u6570\u96c5\u53ef\u6bd4\u77e9\u9635\u3001\u5224\u65ad\u6761\u4ef6\u4e2d\u7684\u5411\u91cf\u8303\u6570\u7b49\u7b49\uff0c\u672c\u8d28\u5c31\u662f\u628a\u4e00\u7ef4\u6570\u503c\u6c42\u89e3\u653e\u5230\u4e86\u9ad8\u7ef4\uff0c\u5c5e\u4e8e\u77e9\u9635\u7406\u8bba<\/strong>\u3002<\/li>\n<\/ul>\n

        5.3 \u89c6\u91ce<\/h3>\n

        \u6307\u7684\u662f\u4e86\u89e3\u8def\u5f84\u89c4\u5212\u5728\u79d1\u7814\u4ee5\u53ca\u4f01\u4e1a\u7684\u4e3b\u8981\u5e94\u7528\uff0c\u624b\u6bb5\u5206\u522b\u4e3a\u79d1\u7814\u6587\u732e\u4ee5\u53ca\u6210\u679c\u62a5\u544a\u7b49\u7b49\u3002<\/p>\n

        6 \u5c0f\u7ed3<\/h2>\n

        \u672c\u6587\u4ecb\u7ecd\u4e86\u5f53\u524d\u8def\u5f84\u89c4\u5212\u7684\u6897\u6982\uff0c\u4e86\u89e3\u76ee\u524d\u8def\u5f84\u89c4\u5212\u6709\u90a3\u4e9b\u65b9\u6cd5\u3002\u5185\u5bb9\u5f88\u7e41\u6742\uff0c\u5f88\u96be\u5728\u6ca1\u6709\u5b9e\u9645\u5e94\u7528\u5bfc\u5411\u7684\u60c5\u51b5\u4e0b\u4e0b\u77ed\u671f\u5168\u90e8\u5b66\u901a\uff0c\u53ea\u80fd\u5728\u9700\u8981\u7684\u65f6\u5019\u518d\u91cd\u70b9\u5b66\u4e60\u3002<\/p>\n<\/div>\n<\/div>\n

        <\/div>\n

        <\/g><\/svg><\/i> \"Loading\"<\/p>\n

        <\/div>\n","protected":false},"excerpt":{"rendered":"

        \u672c\u6587\u4ecb\u7ecd\u4e86\u5f53\u524d\u8def\u5f84\u89c4\u5212\u7684\u6897\u6982\uff0c\u4e86\u89e3\u76ee\u524d\u8def\u5f84\u89c4\u5212\u6709\u90a3\u4e9b\u65b9\u6cd5\u3002\u5185\u5bb9\u5f88\u7e41\u6742\uff0c\u5f88\u96be\u5728\u6ca1\u6709\u5b9e\u9645\u5e94\u7528\u5bfc\u5411\u7684\u60c5\u51b5\u4e0b\u4e0b\u77ed\u671f\u5168\u90e8 […]<\/p>\n

        <\/div>\n

        <\/g><\/svg><\/i> \"Loading\"<\/p>\n

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