{"id":186283,"date":"2024-05-09T15:10:30","date_gmt":"2024-05-09T07:10:30","guid":{"rendered":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/186283.html"},"modified":"2024-05-09T15:10:33","modified_gmt":"2024-05-09T07:10:33","slug":"%e5%a6%82%e4%bd%95%e7%b3%bb%e7%bb%9f%e7%9a%84%e5%ad%a6%e4%b9%a0%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%af%bc%e8%88%aa%ef%bc%88robotics-navigation%ef%bc%89","status":"publish","type":"post","link":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/186283.html","title":{"rendered":"\u5982\u4f55\u7cfb\u7edf\u7684\u5b66\u4e60\u673a\u5668\u4eba\u5bfc\u822a\uff08robotics navigation\uff09"},"content":{"rendered":"<p style=\"text-align:center\"><img decoding=\"async\" src=\"https:\/\/cdn-kb.worktile.com\/kb\/wp-content\/uploads\/2024\/04\/26083948\/ff061602-1ada-4b18-b428-703b224064b8.webp\" alt=\"\u5982\u4f55\u7cfb\u7edf\u7684\u5b66\u4e60\u673a\u5668\u4eba\u5bfc\u822a\uff08robotics navigation\uff09\" \/><\/p>\n<p><p><strong>\u5982\u4f55\u7cfb\u7edf\u5730\u5b66\u4e60\u673a\u5668\u4eba\u5bfc\u822a<\/strong>\u4e3b\u8981\u6db5\u76d6\u4e86\u7406\u8bba\u77e5\u8bc6\u3001\u5b9e\u8df5\u6280\u80fd\u3001\u6848\u4f8b\u5206\u6790\u3001\u548c\u8de8\u5b66\u79d1\u5b66\u4e60\u56db\u4e2a\u65b9\u9762\u3002<strong>\u4e3a\u4e86\u6709\u6548\u5730\u5b66\u4e60\u673a\u5668\u4eba\u5bfc\u822a\uff0c\u4f60\u9700\u8981\u7406\u89e3\u57fa\u672c\u7684\u6570\u5b66\u548c\u7269\u7406\u539f\u7406\u3001\u638c\u63e1\u7f16\u7a0b\u548c\u7b97\u6cd5\u5f00\u53d1\u3001\u5206\u6790\u5b9e\u9645\u5bfc\u822a\u95ee\u9898\u3001\u540c\u65f6\u4e86\u89e3\u4eba\u5de5\u667a\u80fd\u548c<a href=\"https:\/\/docs.pingcode.com\/ask\/59192.html\" target=\"_blank\">\u673a\u5668\u5b66\u4e60<\/a>\u7684\u57fa\u672c\u6982\u5ff5<\/strong>\u3002\u5728\u8fd9\u56db\u4e2a\u65b9\u9762\u4e2d\uff0c\u7406\u89e3\u57fa\u672c\u7684\u6570\u5b66\u548c\u7269\u7406\u539f\u7406\u662f\u57fa\u7840\uff0c\u56e0\u4e3a\u5b83\u4eec\u662f\u673a\u5668\u4eba\u5bfc\u822a\u4e2d\u6240\u6709\u7b97\u6cd5\u548c\u6280\u672f\u7684\u6839\u57fa\u3002\u8fd9\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e\u7ebf\u6027\u4ee3\u6570\u3001\u6982\u7387\u8bba\u3001\u4ee5\u53ca\u52a8\u529b\u5b66\u7b49\u3002\u901a\u8fc7\u6df1\u5165\u5b66\u4e60\u8fd9\u4e9b\u57fa\u7840\u5b66\u79d1\uff0c\u4f60\u5c06\u80fd\u591f\u66f4\u597d\u5730\u7406\u89e3\u673a\u5668\u4eba\u5982\u4f55\u611f\u77e5\u73af\u5883\u3001\u505a\u51fa\u51b3\u7b56\u5e76\u6267\u884c\u76f8\u5e94\u7684\u52a8\u4f5c\u3002<\/p>\n<\/p>\n<p><h3>\u4e00\u3001\u57fa\u7840\u77e5\u8bc6\u5b66\u4e60<\/h3>\n<\/p>\n<p><p>\u5728\u7cfb\u7edf\u5730\u5b66\u4e60\u673a\u5668\u4eba\u5bfc\u822a\u7684\u8fc7\u7a0b\u4e2d\uff0c<strong>\u638c\u63e1\u57fa\u7840\u7684\u6570\u5b66\u77e5\u8bc6\u548c\u7269\u7406\u539f\u7406\u662f\u9996\u8981\u6b65\u9aa4<\/strong>\u3002\u8fd9\u5305\u62ec\u7ebf\u6027\u4ee3\u6570\u3001\u6982\u7387\u8bba\u548c\u7edf\u8ba1\u3001\u5fae\u5206\u65b9\u7a0b\u548c\u52a8\u529b\u5b66\u7b49\u3002\u8fd9\u4e9b\u57fa\u7840\u77e5\u8bc6\u5bf9\u4e8e\u7406\u89e3\u548c\u5b9e\u73b0\u673a\u5668\u4eba\u5bfc\u822a\u7b97\u6cd5\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<\/p>\n<p><p>\u7ebf\u6027\u4ee3\u6570\u662f\u7814\u7a76\u5411\u91cf\u7a7a\u95f4\u548c\u7ebf\u6027\u6620\u5c04\u4e4b\u95f4\u5173\u7cfb\u7684\u6570\u5b66\u5206\u652f\uff0c\u5b83\u5728\u673a\u5668\u4eba\u7684\u8def\u5f84\u89c4\u5212\u548c\u4f4d\u7f6e\u4f30\u8ba1\u4e2d\u626e\u6f14\u7740\u6838\u5fc3\u89d2\u8272\u3002\u901a\u8fc7\u77e9\u9635\u548c\u5411\u91cf\u7684\u8ba1\u7b97\uff0c\u673a\u5668\u4eba\u80fd\u591f\u786e\u5b9a\u5176\u76f8\u5bf9\u4e8e\u73af\u5883\u7684\u4f4d\u7f6e\u548c\u65b9\u5411\u3002\u6982\u7387\u8bba\u548c\u7edf\u8ba1\u5219\u5e7f\u6cdb\u5e94\u7528\u4e8e\u673a\u5668\u4eba\u5bfc\u822a\u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\u5904\u7406\uff0c\u7279\u522b\u662f\u5728\u4f7f\u7528\u4f20\u611f\u5668\u6570\u636e\u8fdb\u884c\u73af\u5883\u611f\u77e5\u548c\u8fd0\u52a8\u4f30\u8ba1\u65f6\u3002\u5fae\u5206\u65b9\u7a0b\u548c\u52a8\u529b\u5b66\u539f\u7406\u5e2e\u52a9\u6211\u4eec\u7406\u89e3\u548c\u9884\u6d4b\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u884c\u4e3a\uff0c\u8fd9\u5bf9\u4e8e\u8def\u5f84\u89c4\u5212\u548c\u907f\u969c\u7b49\u529f\u80fd\u5c24\u4e3a\u91cd\u8981\u3002<\/p>\n<\/p>\n<p><h3>\u4e8c\u3001\u7f16\u7a0b\u4e0e\u7b97\u6cd5\u5f00\u53d1<\/h3>\n<\/p>\n<p><p><strong>\u719f\u7ec3\u638c\u63e1\u7f16\u7a0b\u8bed\u8a00\u548c\u7b97\u6cd5\u5f00\u53d1\u5bf9\u4e8e\u673a\u5668\u4eba\u5bfc\u822a\u5b66\u4e60\u8005\u6765\u8bf4\u662f\u5fc5\u4e0d\u53ef\u5c11\u7684\u6280\u80fd<\/strong>\u3002\u5927\u591a\u6570\u673a\u5668\u4eba\u5bfc\u822a\u7cfb\u7edf\u91c7\u7528C++\u6216Python\u7f16\u7a0b\u8bed\u8a00\uff0c\u56e0\u4e3a\u5b83\u4eec\u63d0\u4f9b\u4e86\u5904\u7406\u590d\u6742\u6570\u636e\u548c\u7b97\u6cd5\u7684\u5f3a\u5927\u529f\u80fd\u3002\u5b66\u4e60\u5982\u4f55\u6709\u6548\u7f16\u5199\u548c\u4f18\u5316\u7b97\u6cd5\uff0c\u80fd\u591f\u76f4\u63a5\u5f71\u54cd\u673a\u5668\u4eba\u5bfc\u822a\u7cfb\u7edf\u7684\u6027\u80fd\u3002<\/p>\n<\/p>\n<p><p>\u7b97\u6cd5\u5f00\u53d1\u6d89\u53ca\u5230\u8def\u5f84\u89c4\u5212\u3001\u4f4d\u7f6e\u4f30\u8ba1\u3001\u5730\u56fe\u6784\u5efa\u4e0e\u66f4\u65b0\u7b49\u591a\u4e2a\u5173\u952e\u6280\u672f\u3002\u4f8b\u5982\uff0cA*\u641c\u7d22\u7b97\u6cd5\u3001Dijkstra\u7b97\u6cd5\u548cRapidly-exploring Random Trees\uff08RRT\uff09\u7b97\u6cd5\u90fd\u662f\u5e38\u7528\u4e8e\u8def\u5f84\u89c4\u5212\u7684\u7b97\u6cd5\u3002\u540c\u65f6\uff0c\u5361\u5c14\u66fc\u6ee4\u6ce2\u548c\u7c92\u5b50\u6ee4\u6ce2\u7b49\u662f\u8fdb\u884c\u4f4d\u7f6e\u4f30\u8ba1\u548c\u4f20\u611f\u5668\u878d\u5408\u7684\u91cd\u8981\u6280\u672f\u3002\u638c\u63e1\u8fd9\u4e9b\u7b97\u6cd5\u4e0d\u4ec5\u9700\u8981\u7406\u8bba\u77e5\u8bc6\uff0c\u8fd8\u9700\u8981\u901a\u8fc7\u5b9e\u8df5\u8fdb\u884c\u52a0\u6df1\u7406\u89e3\u548c\u5e94\u7528\u3002<\/p>\n<\/p>\n<p><h3>\u4e09\u3001\u6848\u4f8b\u5206\u6790\u4e0e\u9879\u76ee\u5b9e\u8df5<\/h3>\n<\/p>\n<p><p>\u5b9e\u9645\u52a8\u624b\u64cd\u4f5c\u5bf9\u4e8e\u5b66\u4e60\u673a\u5668\u4eba\u5bfc\u822a\u6765\u8bf4\u81f3\u5173\u91cd\u8981\u3002<strong>\u901a\u8fc7\u5206\u6790\u6848\u4f8b\u548c\u53c2\u4e0e\u9879\u76ee\uff0c\u53ef\u4ee5\u5c06\u7406\u8bba\u77e5\u8bc6\u4e0e\u5b9e\u8df5\u6280\u80fd\u6709\u6548\u7ed3\u5408<\/strong>\u3002\u5f00\u59cb\u65f6\uff0c\u53ef\u4ee5\u4ece\u7b80\u5355\u7684\u9879\u76ee\u5982\u4f7f\u7528\u8f6e\u5f0f\u673a\u5668\u4eba\u8fdb\u884c\u76f4\u7ebf\u548c\u8f6c\u5f2f\u8fd0\u52a8\u5f00\u59cb\uff0c\u9010\u6b65\u8fc7\u6e21\u5230\u66f4\u590d\u6742\u7684\u5e94\u7528\uff0c\u5982\u81ea\u4e3b\u907f\u969c\u3001\u8def\u5f84\u89c4\u5212\u548c\u73af\u5883\u6620\u5c04\u3002<\/p>\n<\/p>\n<p><p>\u5206\u6790\u73b0\u6709\u7684\u673a\u5668\u4eba\u5bfc\u822a\u6848\u4f8b\uff0c\u7406\u89e3\u5176\u4e2d\u7684\u8bbe\u8ba1\u601d\u60f3\u548c\u6280\u672f\u6311\u6218\uff0c\u80fd\u591f\u5e2e\u52a9\u4f60\u83b7\u5f97\u5b9d\u8d35\u7684\u7ecf\u9a8c\u3002\u6b64\u5916\uff0c\u53c2\u4e0e\u5f00\u6e90\u9879\u76ee\u6216\u7ade\u8d5b\uff0c\u5982RoboCup\u6216DARPA\u6311\u6218\u8d5b\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u63d0\u5347\u4f60\u7684\u6280\u672f\u6c34\u5e73\uff0c\u8fd8\u80fd\u6269\u5927\u4f60\u7684\u4e13\u4e1a\u7f51\u7edc\u3002<\/p>\n<\/p>\n<p><h3>\u56db\u3001\u8de8\u5b66\u79d1\u5b66\u4e60<\/h3>\n<\/p>\n<p><p>\u673a\u5668\u4eba\u5bfc\u822a\u662f\u4e00\u4e2a\u9ad8\u5ea6\u8de8\u5b66\u79d1\u7684\u9886\u57df\uff0c<strong>\u6d89\u53ca\u5230<a href=\"https:\/\/docs.pingcode.com\/tag\/AI\" target=\"_blank\">\u4eba\u5de5\u667a\u80fd<\/a>\u3001\u673a\u5668\u5b66\u4e60\u3001\u8ba1\u7b97\u673a\u89c6\u89c9\u548c\u4f20\u611f\u5668\u6280\u672f\u7b49\u591a\u4e2a\u9886\u57df<\/strong>\u3002\u4e3a\u4e86\u7cfb\u7edf\u6027\u5730\u638c\u63e1\u673a\u5668\u4eba\u5bfc\u822a\uff0c\u9700\u8981\u62d3\u5bbd\u77e5\u8bc6\u9762\uff0c\u4e86\u89e3\u8fd9\u4e9b\u76f8\u5173\u9886\u57df\u7684\u57fa\u672c\u6982\u5ff5\u548c\u6280\u672f\u3002<\/p>\n<\/p>\n<p><p>\u4eba\u5de5\u667a\u80fd\u548c\u673a\u5668\u5b66\u4e60\u5728\u673a\u5668\u4eba\u5bfc\u822a\u4e2d\u8d8a\u6765\u8d8a\u591a\u5730\u88ab\u7528\u4e8e\u51b3\u7b56\u5236\u5b9a\u548c\u73af\u5883\u7406\u89e3\u3002\u4f8b\u5982\uff0c\u901a\u8fc7\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\uff0c\u673a\u5668\u4eba\u80fd\u591f\u8bc6\u522b\u548c\u5206\u7c7b\u4e0d\u540c\u7684\u5bf9\u8c61\uff0c\u4ece\u800c\u505a\u51fa\u66f4\u52a0\u667a\u80fd\u5316\u7684\u8def\u5f84\u9009\u62e9\u3002\u5b66\u4e60\u8ba1\u7b97\u673a\u89c6\u89c9\u6709\u52a9\u4e8e\u673a\u5668\u4eba\u66f4\u597d\u5730\u7406\u89e3\u548c\u89e3\u6790\u901a\u8fc7\u6444\u50cf\u5934\u83b7\u53d6\u7684\u73af\u5883\u4fe1\u606f\u3002\u540c\u65f6\uff0c\u719f\u6089\u4e0d\u540c\u7684\u4f20\u611f\u5668\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe(LIDAR)\u3001\u89c6\u89c9\u4f20\u611f\u5668\u548c\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\uff0c\u53ef\u4ee5\u8ba9\u673a\u5668\u4eba\u66f4\u51c6\u786e\u5730\u611f\u77e5\u5468\u56f4\u73af\u5883\u3002<\/p>\n<\/p>\n<p><p>\u7cfb\u7edf\u5730\u5b66\u4e60\u673a\u5668\u4eba\u5bfc\u822a\u662f\u4e00\u4e2a\u590d\u6742\u4f46\u6709\u8da3\u7684\u8fc7\u7a0b\u3002\u53ea\u6709\u5c06\u7406\u8bba\u77e5\u8bc6\u3001\u5b9e\u8df5\u6280\u5de7\u3001\u6848\u4f8b\u5206\u6790\u548c\u8de8\u5b66\u79d1\u5b66\u4e60\u878d\u4e3a\u4e00\u4f53\uff0c\u624d\u80fd\u771f\u6b63\u638c\u63e1\u673a\u5668\u4eba\u5bfc\u822a\u7684\u7cbe\u9ad3\uff0c\u540c\u65f6\u4e5f\u4e3a\u672a\u6765\u7684\u521b\u65b0\u4e0e\u53d1\u5c55\u5960\u5b9a\u575a\u5b9e\u7684\u57fa\u7840\u3002<\/p>\n<\/p>\n<h2><strong>\u76f8\u5173\u95ee\u7b54FAQs\uff1a<\/strong><\/h2>\n<p><strong>Q1: \u673a\u5668\u4eba\u5bfc\u822a\u90fd\u5305\u62ec\u54ea\u4e9b\u6280\u672f\u8981\u70b9\uff1f<\/strong><\/p>\n<p>A1: \u673a\u5668\u4eba\u5bfc\u822a\u6d89\u53ca\u591a\u4e2a\u6280\u672f\u8981\u70b9\uff0c\u5176\u4e2d\u5305\u62ec\u73af\u5883\u611f\u77e5\u3001\u8def\u5f84\u89c4\u5212\u3001\u5b9a\u4f4d\u548c\u5efa\u56fe\u7b49\u3002\u73af\u5883\u611f\u77e5\u662f\u673a\u5668\u4eba\u5bfc\u822a\u7684\u57fa\u7840\uff0c\u901a\u8fc7\u4f20\u611f\u5668\u83b7\u53d6\u5468\u56f4\u73af\u5883\u7684\u4fe1\u606f\uff0c\u5e76\u8fdb\u884c\u5206\u6790\u548c\u7406\u89e3\u3002\u8def\u5f84\u89c4\u5212\u662f\u51b3\u5b9a\u673a\u5668\u4eba\u5982\u4f55\u4ece\u5f53\u524d\u4f4d\u7f6e\u5230\u8fbe\u76ee\u6807\u4f4d\u7f6e\u7684\u8fc7\u7a0b\uff0c\u53ef\u4ee5\u91c7\u7528\u7ecf\u5178\u7684\u7b97\u6cd5\u5982A*\u7b97\u6cd5\u6216RRT\u7b97\u6cd5\u3002\u5b9a\u4f4d\u662f\u786e\u5b9a\u673a\u5668\u4eba\u5f53\u524d\u4f4d\u7f6e\u7684\u8fc7\u7a0b\uff0c\u53ef\u4ee5\u4f7f\u7528\u5404\u79cd\u5b9a\u4f4d\u6280\u672f\u5982GPS\u3001\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u6216\u89c6\u89c9\u5b9a\u4f4d\u3002\u5efa\u56fe\u662f\u521b\u5efa\u673a\u5668\u4eba\u5468\u56f4\u73af\u5883\u7684\u6a21\u578b\uff0c\u53ef\u4ee5\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe\u6216\u6444\u50cf\u5934\u6765\u83b7\u53d6\u73af\u5883\u4fe1\u606f\uff0c\u5e76\u5c06\u5176\u8f6c\u6362\u4e3a\u5730\u56fe\u8868\u793a\u3002<\/p>\n<p><strong>Q2: \u673a\u5668\u4eba\u5bfc\u822a\u4e2d\u7684\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u6709\u54ea\u4e9b\uff1f<\/strong><\/p>\n<p>A2: \u673a\u5668\u4eba\u5bfc\u822a\u4e2d\u5e38\u7528\u7684\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u5305\u62ecA<em>\u7b97\u6cd5\u3001Dijkstra\u7b97\u6cd5\u548cRRT\u7b97\u6cd5\u7b49\u3002A<\/em>\u7b97\u6cd5\u662f\u4e00\u79cd\u542f\u53d1\u5f0f\u641c\u7d22\u7b97\u6cd5\uff0c\u901a\u8fc7\u4f30\u8ba1\u5230\u8fbe\u76ee\u6807\u7684\u4ee3\u4ef7\u6765\u5bfb\u627e\u6700\u4f18\u8def\u5f84\u3002Dijkstra\u7b97\u6cd5\u5219\u662f\u4e00\u79cd\u65e0\u5411\u56fe\u7684\u6700\u77ed\u8def\u5f84\u7b97\u6cd5\uff0c\u9002\u7528\u4e8e\u6ca1\u6709\u6743\u91cd\u7684\u56fe\u3002\u800cRRT\u7b97\u6cd5\u662f\u4e00\u79cd\u57fa\u4e8e\u968f\u673a\u91c7\u6837\u7684\u6811\u7ed3\u6784\u7b97\u6cd5\uff0c\u53ef\u4ee5\u6709\u6548\u5730\u5904\u7406\u975e\u51f8\u3001\u9ad8\u7ef4\u6216\u52a8\u6001\u73af\u5883\u3002<\/p>\n<p><strong>Q3: \u673a\u5668\u4eba\u5bfc\u822a\u4e2d\u7684\u73af\u5883\u611f\u77e5\u6280\u672f\u6709\u54ea\u4e9b\uff1f<\/strong><\/p>\n<p>A3: 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