{"id":885524,"date":"2024-07-30T11:43:46","date_gmt":"2024-07-30T03:43:46","guid":{"rendered":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/885524.html"},"modified":"2024-07-30T11:44:17","modified_gmt":"2024-07-30T03:44:17","slug":"%e6%97%a0%e4%ba%ba%e7%b3%bb%e7%bb%9f%e5%bc%80%e5%8f%91%e5%b9%b3%e5%8f%b0%e6%9c%89%e5%93%aa%e4%ba%9b","status":"publish","type":"post","link":"https:\/\/docs.pingcode.com\/ask\/885524.html","title":{"rendered":"\u65e0\u4eba\u7cfb\u7edf\u5f00\u53d1\u5e73\u53f0\u6709\u54ea\u4e9b"},"content":{"rendered":"

\"\u65e0\u4eba\u7cfb\u7edf\u5f00\u53d1\u5e73\u53f0\u6709\u54ea\u4e9b\"<\/p>\n

\u65e0\u4eba\u7cfb\u7edf\u5f00\u53d1\u5e73\u53f0\u4e3b\u8981\u5305\u62ecROS\uff08Robot Operating System\uff09\u3001PX4\u3001ArduPilot\u3001Gazebo\u3001AI<\/a>rSim\u3001V-REP\u3001MATLAB\/Simulink\u3001NVIDIA Isaac\u3001AWS RoboMaker\u3001Microsoft AirSim<\/strong>\u3002\u5176\u4e2d\uff0cROS\u548cPX4\u662f\u4e24\u4e2a\u6700\u5e38\u7528\u7684\u5f00\u53d1\u5e73\u53f0\u3002ROS\uff08Robot Operating System\uff09\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u5de5\u5177\u548c\u5e93\uff0c\u652f\u6301\u591a\u79cd\u786c\u4ef6\u548c\u8f6f\u4ef6\u7684\u96c6\u6210\uff0c\u9002\u7528\u4e8e\u5404\u79cd\u673a\u5668\u4eba\u5e94\u7528\u3002PX4<\/strong>\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u98de\u884c\u63a7\u5236\u8f6f\u4ef6\uff0c\u4e3b\u8981\u7528\u4e8e\u65e0\u4eba\u673a\u7684\u5f00\u53d1\u548c\u63a7\u5236\uff0c\u652f\u6301\u591a\u79cd\u98de\u884c\u6a21\u5f0f\u548c\u4f20\u611f\u5668\u96c6\u6210\u3002<\/p>\n<\/p>\n

\n

\u4e00\u3001ROS\uff08Robot Operating System\uff09<\/h3>\n<\/p>\n

ROS\uff08Robot Operating System\uff09\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5b66\u672f\u7814\u7a76\u548c\u5de5\u4e1a\u5e94\u7528\u3002\u5b83\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7075\u6d3b\u7684\u6846\u67b6\uff0c\u652f\u6301\u591a\u79cd\u786c\u4ef6\u548c\u8f6f\u4ef6\u7684\u96c6\u6210\uff0c\u4f7f\u5f97\u673a\u5668\u4eba\u5f00\u53d1\u53d8\u5f97\u66f4\u52a0\u4fbf\u6377\u3002<\/p>\n<\/p>\n

1\u3001\u6838\u5fc3\u7ec4\u4ef6<\/h4>\n<\/p>\n

ROS\u7684\u6838\u5fc3\u7ec4\u4ef6\u5305\u62ec\u901a\u4fe1\u3001\u5305\u7ba1\u7406\u548c\u5de5\u5177\u3002\u901a\u4fe1\u673a\u5236\u4e3b\u8981\u5305\u62ec\u8282\u70b9\u3001\u4e3b\u9898\u3001\u670d\u52a1\u548c\u53c2\u6570\u670d\u52a1\u5668\u3002\u8282\u70b9\u662fROS\u7684\u57fa\u672c\u6267\u884c\u5355\u5143\uff0c\u901a\u8fc7\u4e3b\u9898\u8fdb\u884c\u6570\u636e\u901a\u4fe1\uff0c\u901a\u8fc7\u670d\u52a1\u8fdb\u884c\u540c\u6b65\u901a\u4fe1\u3002\u5305\u7ba1\u7406\u7cfb\u7edf\u7528\u4e8e\u7ec4\u7ec7\u548c\u7ba1\u7406\u4ee3\u7801\u3001\u6570\u636e\u548c\u914d\u7f6e\u6587\u4ef6\u3002ROS\u5de5\u5177\u96c6\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u8c03\u8bd5\u3001\u53ef\u89c6\u5316\u548c\u6a21\u62df\u5de5\u5177\uff0c\u5982rviz\u548cGazebo\u3002<\/p>\n<\/p>\n

2\u3001\u5e94\u7528\u573a\u666f<\/h4>\n<\/p>\n

ROS\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5404\u79cd\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\uff0c\u5305\u62ec\u79fb\u52a8\u673a\u5668\u4eba\u3001\u673a\u68b0\u81c2\u548c\u65e0\u4eba\u673a\u3002\u5b83\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u548c\u6267\u884c\u5668\u7684\u96c6\u6210\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u548c\u7535\u673a\u63a7\u5236\u5668\u3002\u901a\u8fc7\u4f7f\u7528ROS\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u5feb\u901f\u6784\u5efa\u3001\u6d4b\u8bd5\u548c\u90e8\u7f72\u673a\u5668\u4eba\u5e94\u7528\u3002<\/p>\n<\/p>\n

\u4e8c\u3001PX4<\/h3>\n<\/p>\n

PX4<\/strong>\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u98de\u884c\u63a7\u5236\u8f6f\u4ef6\uff0c\u4e3b\u8981\u7528\u4e8e\u65e0\u4eba\u673a\u7684\u5f00\u53d1\u548c\u63a7\u5236\u3002\u5b83\u652f\u6301\u591a\u79cd\u98de\u884c\u6a21\u5f0f\u548c\u4f20\u611f\u5668\u96c6\u6210\uff0c\u9002\u7528\u4e8e\u5404\u79cd\u7c7b\u578b\u7684\u65e0\u4eba\u673a\u3002<\/p>\n<\/p>\n

1\u3001\u67b6\u6784<\/h4>\n<\/p>\n

PX4\u7684\u67b6\u6784\u5305\u62ec\u98de\u884c\u63a7\u5236\u5668\u3001\u5bfc\u822a\u6a21\u5757\u548c\u4f20\u611f\u5668\u63a5\u53e3\u3002\u98de\u884c\u63a7\u5236\u5668\u8d1f\u8d23\u98de\u884c\u59ff\u6001\u548c\u4f4d\u7f6e\u7684\u63a7\u5236\uff0c\u5bfc\u822a\u6a21\u5757\u7528\u4e8e\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\uff0c\u4f20\u611f\u5668\u63a5\u53e3\u7528\u4e8e\u63a5\u6536\u548c\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\u3002PX4\u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5f3a\u5927\u7684\u5730\u9762\u7ad9\u8f6f\u4ef6QGroundControl\uff0c\u7528\u4e8e\u65e0\u4eba\u673a\u7684\u914d\u7f6e\u3001\u76d1\u63a7\u548c\u63a7\u5236\u3002<\/p>\n<\/p>\n

2\u3001\u5f00\u53d1\u6d41\u7a0b<\/h4>\n<\/p>\n

PX4\u7684\u5f00\u53d1\u6d41\u7a0b\u5305\u62ec\u786c\u4ef6\u9009\u62e9\u3001\u8f6f\u4ef6\u914d\u7f6e\u548c\u6d4b\u8bd5\u3002\u5f00\u53d1\u8005\u9700\u8981\u9009\u62e9\u5408\u9002\u7684\u98de\u884c\u63a7\u5236\u5668\u548c\u4f20\u611f\u5668\uff0c\u914d\u7f6e\u98de\u884c\u63a7\u5236\u5668\u7684\u53c2\u6570\uff0c\u5e76\u901a\u8fc7\u4eff\u771f\u548c\u5b9e\u7269\u6d4b\u8bd5\u9a8c\u8bc1\u7cfb\u7edf\u7684\u6027\u80fd\u3002PX4\u8fd8\u652f\u6301\u591a\u79cd\u5f00\u53d1\u5de5\u5177\u548c\u5e93\uff0c\u5982MAVLink\u3001Gazebo\u548cROS\uff0c\u4f7f\u5f97\u5f00\u53d1\u8fc7\u7a0b\u66f4\u52a0\u9ad8\u6548\u3002<\/p>\n<\/p>\n

\u4e09\u3001ArduPilot<\/h3>\n<\/p>\n

ArduPilot<\/strong>\u662f\u53e6\u4e00\u4e2a\u5f00\u6e90\u7684\u98de\u884c\u63a7\u5236\u8f6f\u4ef6\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u673a\u3001\u65e0\u4eba\u8f66\u548c\u65e0\u4eba\u8239\u7684\u5f00\u53d1\u3002\u5b83\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u529f\u80fd\u548c\u7075\u6d3b\u7684\u914d\u7f6e\u9009\u9879\uff0c\u652f\u6301\u591a\u79cd\u786c\u4ef6\u5e73\u53f0\u548c\u4f20\u611f\u5668\u3002<\/p>\n<\/p>\n

1\u3001\u529f\u80fd\u7279\u70b9<\/h4>\n<\/p>\n

ArduPilot\u7684\u529f\u80fd\u7279\u70b9\u5305\u62ec\u81ea\u52a8\u9a7e\u9a76\u3001\u8def\u5f84\u89c4\u5212\u548c\u907f\u969c\u3002\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u652f\u6301\u591a\u79cd\u98de\u884c\u6a21\u5f0f\uff0c\u5982\u624b\u52a8\u3001\u81ea\u52a8\u548c\u5b9a\u70b9\u98de\u884c\u3002\u8def\u5f84\u89c4\u5212\u529f\u80fd\u7528\u4e8e\u751f\u6210\u548c\u6267\u884c\u98de\u884c\u8def\u5f84\uff0c\u907f\u969c\u529f\u80fd\u7528\u4e8e\u907f\u514d\u78b0\u649e\u548c\u4fdd\u6301\u5b89\u5168\u8ddd\u79bb\u3002ArduPilot\u8fd8\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u548c\u5916\u8bbe\uff0c\u5982GPS\u3001IMU\u548c\u6fc0\u5149\u96f7\u8fbe\u3002<\/p>\n<\/p>\n

2\u3001\u4f7f\u7528\u573a\u666f<\/h4>\n<\/p>\n

ArduPilot\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5404\u79cd\u65e0\u4eba\u7cfb\u7edf\u4e2d\uff0c\u5305\u62ec\u56fa\u5b9a\u7ffc\u98de\u673a\u3001\u591a\u65cb\u7ffc\u98de\u673a\u3001\u65e0\u4eba\u8f66\u548c\u65e0\u4eba\u8239\u3002\u5b83\u652f\u6301\u591a\u79cd\u786c\u4ef6\u5e73\u53f0\uff0c\u5982Pixhawk\u3001Navio\u548cBeagleBone\u3002\u901a\u8fc7\u4f7f\u7528ArduPilot\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u5feb\u901f\u6784\u5efa\u548c\u90e8\u7f72\u65e0\u4eba\u7cfb\u7edf\uff0c\u6ee1\u8db3\u5404\u79cd\u5e94\u7528\u9700\u6c42\u3002<\/p>\n<\/p>\n

\u56db\u3001Gazebo<\/h3>\n<\/p>\n

Gazebo<\/strong>\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u673a\u5668\u4eba\u4eff\u771f\u5e73\u53f0\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u673a\u5668\u4eba\u7814\u7a76\u548c\u5f00\u53d1\u3002\u5b83\u63d0\u4f9b\u4e86\u4e00\u4e2a\u9ad8\u4fdd\u771f\u3001\u7269\u7406\u7cbe\u786e\u7684\u4eff\u771f\u73af\u5883\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u548c\u4f20\u611f\u5668\u7684\u6a21\u62df\u3002<\/p>\n<\/p>\n

1\u3001\u4eff\u771f\u529f\u80fd<\/h4>\n<\/p>\n

Gazebo\u7684\u4eff\u771f\u529f\u80fd\u5305\u62ec\u7269\u7406\u4eff\u771f\u3001\u4f20\u611f\u5668\u4eff\u771f\u548c\u73af\u5883\u4eff\u771f\u3002\u7269\u7406\u4eff\u771f\u529f\u80fd\u4f7f\u7528\u9ad8\u7cbe\u5ea6\u7684\u7269\u7406\u5f15\u64ce\uff0c\u5982ODE\u3001Bullet\u548cDART\uff0c\u6a21\u62df\u673a\u5668\u4eba\u548c\u73af\u5883\u7684\u7269\u7406\u4ea4\u4e92\u3002\u4f20\u611f\u5668\u4eff\u771f\u529f\u80fd\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u7684\u6a21\u62df\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u548cIMU\u3002\u73af\u5883\u4eff\u771f\u529f\u80fd\u7528\u4e8e\u521b\u5efa\u590d\u6742\u7684\u4eff\u771f\u573a\u666f\uff0c\u5982\u5ba4\u5185\u73af\u5883\u3001\u6237\u5916\u73af\u5883\u548c\u6c34\u4e0b\u73af\u5883\u3002<\/p>\n<\/p>\n

2\u3001\u96c6\u6210\u4e0e\u6269\u5c55<\/h4>\n<\/p>\n

Gazebo\u652f\u6301\u4e0e\u591a\u79cd\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u548c\u4eff\u771f\u5e73\u53f0\u7684\u96c6\u6210\uff0c\u5982ROS\u3001PX4\u548cArduPilot\u3002\u901a\u8fc7\u4e0eROS\u96c6\u6210\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u4f7f\u7528ROS\u7684\u901a\u4fe1\u673a\u5236\u548c\u5de5\u5177\u96c6\u8fdb\u884c\u4eff\u771f\u63a7\u5236\u548c\u6570\u636e\u5206\u6790\u3002Gazebo\u8fd8\u652f\u6301\u63d2\u4ef6\u673a\u5236\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u901a\u8fc7\u7f16\u5199\u63d2\u4ef6\u6269\u5c55Gazebo\u7684\u529f\u80fd\uff0c\u5982\u81ea\u5b9a\u4e49\u4f20\u611f\u5668\u3001\u63a7\u5236\u5668\u548c\u73af\u5883\u6a21\u578b\u3002<\/p>\n<\/p>\n

\u4e94\u3001AirSim<\/h3>\n<\/p>\n

AirSim<\/strong>\u662f\u7531\u5fae\u8f6f\u5f00\u53d1\u7684\u4e00\u4e2a\u5f00\u6e90\u7684\u65e0\u4eba\u7cfb\u7edf\u4eff\u771f\u5e73\u53f0\uff0c\u4e3b\u8981\u7528\u4e8e\u65e0\u4eba\u673a\u548c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u4eff\u771f\u3002\u5b83\u57fa\u4e8eUnreal Engine 4\uff0c\u63d0\u4f9b\u4e86\u4e00\u4e2a\u9ad8\u4fdd\u771f\u7684\u89c6\u89c9\u548c\u7269\u7406\u4eff\u771f\u73af\u5883\u3002<\/p>\n<\/p>\n

1\u3001\u89c6\u89c9\u4eff\u771f<\/h4>\n<\/p>\n

AirSim\u7684\u89c6\u89c9\u4eff\u771f\u529f\u80fd\u5305\u62ec\u9ad8\u8d28\u91cf\u7684\u6e32\u67d3\u3001\u5b9e\u65f6\u7684\u5149\u5f71\u6548\u679c\u548c\u4e30\u5bcc\u7684\u73af\u5883\u7ec6\u8282\u3002\u57fa\u4e8eUnreal Engine 4\uff0cAirSim\u53ef\u4ee5\u751f\u6210\u903c\u771f\u7684\u89c6\u89c9\u6548\u679c\uff0c\u5982\u53cd\u5c04\u3001\u6298\u5c04\u548c\u9634\u5f71\u3002\u5f00\u53d1\u8005\u53ef\u4ee5\u4f7f\u7528AirSim\u521b\u5efa\u590d\u6742\u7684\u4eff\u771f\u73af\u5883\uff0c\u5982\u57ce\u5e02\u3001\u4e61\u6751\u548c\u5de5\u4e1a\u533a\uff0c\u7528\u4e8e\u65e0\u4eba\u7cfb\u7edf\u7684\u89c6\u89c9\u611f\u77e5\u548c\u5bfc\u822a\u7b97\u6cd5\u7684\u6d4b\u8bd5\u548c\u9a8c\u8bc1\u3002<\/p>\n<\/p>\n

2\u3001\u7269\u7406\u4eff\u771f<\/h4>\n<\/p>\n

AirSim\u7684\u7269\u7406\u4eff\u771f\u529f\u80fd\u5305\u62ec\u9ad8\u7cbe\u5ea6\u7684\u7269\u7406\u5f15\u64ce\u3001\u771f\u5b9e\u7684\u52a8\u529b\u5b66\u6a21\u578b\u548c\u591a\u79cd\u4f20\u611f\u5668\u6a21\u62df\u3002\u7269\u7406\u5f15\u64ce\u4f7f\u7528Unreal Engine 4\u7684\u7269\u7406\u6a21\u5757\uff0c\u6a21\u62df\u65e0\u4eba\u7cfb\u7edf\u548c\u73af\u5883\u7684\u7269\u7406\u4ea4\u4e92\u3002\u52a8\u529b\u5b66\u6a21\u578b\u5305\u62ec\u65e0\u4eba\u673a\u7684\u98de\u884c\u6a21\u578b\u548c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u9a7e\u9a76\u6a21\u578b\uff0c\u652f\u6301\u591a\u79cd\u8fd0\u52a8\u6a21\u5f0f\u548c\u63a7\u5236\u65b9\u5f0f\u3002\u4f20\u611f\u5668\u6a21\u62df\u529f\u80fd\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u7684\u6a21\u62df\uff0c\u5982\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u548cIMU\u3002<\/p>\n<\/p>\n

\u516d\u3001V-REP\uff08CoppeliaSim\uff09<\/h3>\n<\/p>\n

V-REP<\/strong>\uff0c\u73b0\u79f0\u4e3aCoppeliaSim<\/strong>\uff0c\u662f\u4e00\u4e2a\u9ad8\u6027\u80fd\u7684\u673a\u5668\u4eba\u4eff\u771f\u5e73\u53f0\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u673a\u5668\u4eba\u7814\u7a76\u3001\u6559\u80b2\u548c\u5de5\u4e1a\u5e94\u7528\u3002\u5b83\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7efc\u5408\u7684\u4eff\u771f\u73af\u5883\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u548c\u4f20\u611f\u5668\u7684\u6a21\u62df\u3002<\/p>\n<\/p>\n

1\u3001\u4eff\u771f\u73af\u5883<\/h4>\n<\/p>\n

CoppeliaSim\u7684\u4eff\u771f\u73af\u5883\u5305\u62ec\u7269\u7406\u4eff\u771f\u3001\u4f20\u611f\u5668\u4eff\u771f\u548c\u63a7\u5236\u4eff\u771f\u3002\u7269\u7406\u4eff\u771f\u529f\u80fd\u4f7f\u7528Bullet\u548cODE\u7269\u7406\u5f15\u64ce\uff0c\u6a21\u62df\u673a\u5668\u4eba\u548c\u73af\u5883\u7684\u7269\u7406\u4ea4\u4e92\u3002\u4f20\u611f\u5668\u4eff\u771f\u529f\u80fd\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u7684\u6a21\u62df\uff0c\u5982\u6fc0\u5149\u96f7\u8fbe\u3001\u6444\u50cf\u5934\u548cIMU\u3002\u63a7\u5236\u4eff\u771f\u529f\u80fd\u652f\u6301\u591a\u79cd\u63a7\u5236\u7b97\u6cd5\u7684\u5b9e\u73b0\uff0c\u5982PID\u63a7\u5236\u3001\u6a21\u7cca\u63a7\u5236\u548c\u795e\u7ecf\u7f51\u7edc\u63a7\u5236\u3002<\/p>\n<\/p>\n

2\u3001\u7f16\u7a0b\u63a5\u53e3<\/h4>\n<\/p>\n

CoppeliaSim\u63d0\u4f9b\u4e86\u591a\u79cd\u7f16\u7a0b\u63a5\u53e3\uff0c\u5305\u62ecLua\u3001Python\u3001C\/C++\u548cJava\uff0c\u4f7f\u5f97\u5f00\u53d1\u8005\u53ef\u4ee5\u4f7f\u7528\u591a\u79cd\u7f16\u7a0b\u8bed\u8a00\u8fdb\u884c\u4eff\u771f\u63a7\u5236\u548c\u6570\u636e\u5206\u6790\u3002\u901a\u8fc7\u7f16\u5199\u811a\u672c\u548c\u63d2\u4ef6\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u6269\u5c55CoppeliaSim\u7684\u529f\u80fd\uff0c\u5982\u81ea\u5b9a\u4e49\u4f20\u611f\u5668\u3001\u63a7\u5236\u5668\u548c\u73af\u5883\u6a21\u578b\u3002CoppeliaSim\u8fd8\u652f\u6301\u4e0eROS\u3001MATLAB\u548cLabVIEW\u7684\u96c6\u6210\uff0c\u4f7f\u5f97\u4eff\u771f\u8fc7\u7a0b\u66f4\u52a0\u9ad8\u6548\u548c\u7075\u6d3b\u3002<\/p>\n<\/p>\n

\u4e03\u3001MATLAB\/Simulink<\/h3>\n<\/p>\n

MATLAB\/Simulink<\/strong>\u662f\u4e00\u4e2a\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5de5\u7a0b\u548c\u79d1\u5b66\u9886\u57df\u7684\u4eff\u771f\u548c\u5efa\u6a21\u5de5\u5177\uff0c\u9002\u7528\u4e8e\u65e0\u4eba\u7cfb\u7edf\u7684\u5f00\u53d1\u548c\u6d4b\u8bd5\u3002\u5b83\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u5de5\u5177\u7bb1\u548c\u5e93\uff0c\u652f\u6301\u591a\u79cd\u7b97\u6cd5\u548c\u6a21\u578b\u7684\u5b9e\u73b0\u3002<\/p>\n<\/p>\n

1\u3001\u5efa\u6a21\u4e0e\u4eff\u771f<\/h4>\n<\/p>\n

MATLAB\/Simulink\u7684\u5efa\u6a21\u4e0e\u4eff\u771f\u529f\u80fd\u5305\u62ec\u7cfb\u7edf\u5efa\u6a21\u3001\u4eff\u771f\u63a7\u5236\u548c\u6570\u636e\u5206\u6790\u3002\u7cfb\u7edf\u5efa\u6a21\u529f\u80fd\u652f\u6301\u591a\u79cd\u7269\u7406\u7cfb\u7edf\u7684\u5efa\u6a21\uff0c\u5982\u673a\u68b0\u7cfb\u7edf\u3001\u7535\u6c14\u7cfb\u7edf\u548c\u70ed\u529b\u7cfb\u7edf\u3002\u4eff\u771f\u63a7\u5236\u529f\u80fd\u5305\u62ec\u591a\u79cd\u63a7\u5236\u7b97\u6cd5\u7684\u5b9e\u73b0\uff0c\u5982PID\u63a7\u5236\u3001\u6a21\u7cca\u63a7\u5236\u548c\u6700\u4f18\u63a7\u5236\u3002\u6570\u636e\u5206\u6790\u529f\u80fd\u5305\u62ec\u6570\u636e\u5904\u7406\u3001\u53ef\u89c6\u5316\u548c\u7edf\u8ba1\u5206\u6790\uff0c\u7528\u4e8e\u4eff\u771f\u7ed3\u679c\u7684\u5206\u6790\u548c\u9a8c\u8bc1\u3002<\/p>\n<\/p>\n

2\u3001\u5de5\u5177\u7bb1\u4e0e\u5e93<\/h4>\n<\/p>\n

MATLAB\/Simulink\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u5de5\u5177\u7bb1\u548c\u5e93\uff0c\u5982\u63a7\u5236\u7cfb\u7edf\u5de5\u5177\u7bb1\u3001\u673a\u5668\u4eba\u7cfb\u7edf\u5de5\u5177\u7bb1\u548c\u56fe\u50cf\u5904\u7406\u5de5\u5177\u7bb1\u3002\u63a7\u5236\u7cfb\u7edf\u5de5\u5177\u7bb1\u652f\u6301\u591a\u79cd\u63a7\u5236\u7b97\u6cd5\u7684\u5b9e\u73b0\u548c\u8c03\u8bd5\uff0c\u673a\u5668\u4eba\u7cfb\u7edf\u5de5\u5177\u7bb1\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u6a21\u578b\u548c\u7b97\u6cd5\u7684\u5b9e\u73b0\uff0c\u56fe\u50cf\u5904\u7406\u5de5\u5177\u7bb1\u652f\u6301\u591a\u79cd\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u7b97\u6cd5\u7684\u5b9e\u73b0\u3002\u901a\u8fc7\u4f7f\u7528\u8fd9\u4e9b\u5de5\u5177\u7bb1\u548c\u5e93\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u5feb\u901f\u6784\u5efa\u548c\u6d4b\u8bd5\u65e0\u4eba\u7cfb\u7edf\u7684\u6a21\u578b\u548c\u7b97\u6cd5\u3002<\/p>\n<\/p>\n

\u516b\u3001NVIDIA Isaac<\/h3>\n<\/p>\n

NVIDIA Isaac<\/strong>\u662f\u4e00\u4e2a\u9762\u5411\u673a\u5668\u4eba\u548c\u65e0\u4eba\u7cfb\u7edf\u7684AI\u5f00\u53d1\u5e73\u53f0\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u5de5\u5177\u548c\u5e93\uff0c\u652f\u6301\u591a\u79cdAI\u7b97\u6cd5\u548c\u6a21\u578b\u7684\u5b9e\u73b0\u3002\u5b83\u57fa\u4e8eNVIDIA\u7684GPU\u786c\u4ef6\uff0c\u52a0\u901fAI\u7b97\u6cd5\u7684\u8bad\u7ec3\u548c\u63a8\u7406\u3002<\/p>\n<\/p>\n

1\u3001AI\u5de5\u5177<\/h4>\n<\/p>\n

NVIDIA Isaac\u7684AI\u5de5\u5177\u5305\u62ecIsaac SDK\u3001Isaac Sim\u548cIsaac GEMs\u3002Isaac SDK\u662f\u4e00\u4e2a\u7efc\u5408\u7684\u5f00\u53d1\u5de5\u5177\u5305\uff0c\u63d0\u4f9b\u4e86\u591a\u79cdAI\u7b97\u6cd5\u548c\u6a21\u578b\uff0c\u5982\u7269\u4f53\u68c0\u6d4b\u3001\u8def\u5f84\u89c4\u5212\u548c\u8fd0\u52a8\u63a7\u5236\u3002Isaac Sim\u662f\u4e00\u4e2a\u9ad8\u6027\u80fd\u7684\u4eff\u771f\u5e73\u53f0\uff0c\u57fa\u4e8eNVIDIA Omniverse\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u548c\u4f20\u611f\u5668\u7684\u6a21\u62df\u3002Isaac GEMs\u662f\u4e00\u4e2aAI\u7b97\u6cd5\u5e93\uff0c\u63d0\u4f9b\u4e86\u591a\u79cd\u9884\u8bad\u7ec3\u7684AI\u6a21\u578b\u548c\u7b97\u6cd5\uff0c\u5982\u6df1\u5ea6\u5b66\u4e60\u3001\u5f3a\u5316\u5b66\u4e60\u548c\u751f\u6210\u5bf9\u6297\u7f51\u7edc\u3002<\/p>\n<\/p>\n

2\u3001\u786c\u4ef6\u52a0\u901f<\/h4>\n<\/p>\n

NVIDIA Isaac\u57fa\u4e8eNVIDIA\u7684GPU\u786c\u4ef6\uff0c\u52a0\u901fAI\u7b97\u6cd5\u7684\u8bad\u7ec3\u548c\u63a8\u7406\u3002\u901a\u8fc7\u4f7f\u7528NVIDIA\u7684GPU\u786c\u4ef6\uff0c\u5982Jetson Nano\u3001Jetson Xavier\u548cDGX Station\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u5927\u5e45\u63d0\u5347AI\u7b97\u6cd5\u7684\u8ba1\u7b97\u6027\u80fd\u548c\u6548\u7387\u3002NVIDIA Isaac\u8fd8\u652f\u6301TensorRT\u548cCUDA\u7b49\u52a0\u901f\u5e93\uff0c\u8fdb\u4e00\u6b65\u4f18\u5316AI\u7b97\u6cd5\u7684\u6267\u884c\u901f\u5ea6\u548c\u6027\u80fd\u3002<\/p>\n<\/p>\n

\u4e5d\u3001AWS RoboMaker<\/h3>\n<\/p>\n

AWS RoboMaker<\/strong>\u662f\u4e9a\u9a6c\u900a\u63d0\u4f9b\u7684\u4e00\u4e2a\u57fa\u4e8e\u4e91\u7684\u673a\u5668\u4eba\u5f00\u53d1\u5e73\u53f0\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u5e94\u7528\u7684\u5f00\u53d1\u3001\u4eff\u771f\u548c\u90e8\u7f72\u3002\u5b83\u96c6\u6210\u4e86ROS\u548cAWS\u7684\u4e91\u670d\u52a1\uff0c\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7075\u6d3b\u7684\u5f00\u53d1\u73af\u5883\u3002<\/p>\n<\/p>\n

1\u3001\u5f00\u53d1\u5de5\u5177<\/h4>\n<\/p>\n

AWS RoboMaker\u7684\u5f00\u53d1\u5de5\u5177\u5305\u62ec\u5f00\u53d1\u73af\u5883\u3001\u4eff\u771f\u73af\u5883\u548c\u76d1\u63a7\u5de5\u5177\u3002\u5f00\u53d1\u73af\u5883\u57fa\u4e8eROS\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u5de5\u5177\u548c\u5e93\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u5e94\u7528\u7684\u5f00\u53d1\u3002\u4eff\u771f\u73af\u5883\u57fa\u4e8eGazebo\uff0c\u652f\u6301\u591a\u79cd\u673a\u5668\u4eba\u548c\u4f20\u611f\u5668\u7684\u6a21\u62df\u3002\u76d1\u63a7\u5de5\u5177\u5305\u62ecCloudWatch\u548cCloudTrail\uff0c\u7528\u4e8e\u76d1\u63a7\u548c\u8c03\u8bd5\u673a\u5668\u4eba\u5e94\u7528\u3002<\/p>\n<\/p>\n

2\u3001\u4e91\u670d\u52a1<\/h4>\n<\/p>\n

AWS RoboMaker\u96c6\u6210\u4e86\u591a\u79cdAWS\u7684\u4e91\u670d\u52a1\uff0c\u5982S3\u3001DynamoDB\u548cLambda\uff0c\u652f\u6301\u673a\u5668\u4eba\u5e94\u7528\u7684\u6570\u636e\u5b58\u50a8\u3001\u5904\u7406\u548c\u5206\u6790\u3002\u901a\u8fc7\u4f7f\u7528\u8fd9\u4e9b\u4e91\u670d\u52a1\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u6784\u5efa\u9ad8\u6548\u3001\u53ef\u6269\u5c55\u7684\u673a\u5668\u4eba\u5e94\u7528\u3002AWS RoboMaker\u8fd8\u652f\u6301\u4e0eAWS IoT\u7684\u96c6\u6210\uff0c\u4f7f\u5f97\u673a\u5668\u4eba\u5e94\u7528\u53ef\u4ee5\u4e0e\u5176\u4ed6\u7269\u8054\u7f51\u8bbe\u5907\u8fdb\u884c\u901a\u4fe1\u548c\u534f\u4f5c\u3002<\/p>\n<\/p>\n

\u5341\u3001Microsoft AirSim<\/h3>\n<\/p>\n

Microsoft AirSim<\/strong>\u662f\u7531\u5fae\u8f6f\u5f00\u53d1\u7684\u4e00\u4e2a\u5f00\u6e90\u7684\u65e0\u4eba\u7cfb\u7edf\u4eff\u771f\u5e73\u53f0\uff0c\u4e3b\u8981\u7528\u4e8e\u65e0\u4eba\u673a\u548c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u4eff\u771f\u3002\u5b83\u57fa\u4e8eUnreal Engine 4\uff0c\u63d0\u4f9b\u4e86\u4e00\u4e2a\u9ad8\u4fdd\u771f\u7684\u89c6\u89c9\u548c\u7269\u7406\u4eff\u771f\u73af\u5883\u3002<\/p>\n<\/p>\n

1\u3001\u89c6\u89c9\u4eff\u771f<\/h4>\n<\/p>\n

AirSim\u7684\u89c6\u89c9\u4eff\u771f\u529f\u80fd\u5305\u62ec\u9ad8\u8d28\u91cf\u7684\u6e32\u67d3\u3001\u5b9e\u65f6\u7684\u5149\u5f71\u6548\u679c\u548c\u4e30\u5bcc\u7684\u73af\u5883\u7ec6\u8282\u3002\u57fa\u4e8eUnreal Engine 4\uff0cAirSim\u53ef\u4ee5\u751f\u6210\u903c\u771f\u7684\u89c6\u89c9\u6548\u679c\uff0c\u5982\u53cd\u5c04\u3001\u6298\u5c04\u548c\u9634\u5f71\u3002\u5f00\u53d1\u8005\u53ef\u4ee5\u4f7f\u7528AirSim\u521b\u5efa\u590d\u6742\u7684\u4eff\u771f\u73af\u5883\uff0c\u5982\u57ce\u5e02\u3001\u4e61\u6751\u548c\u5de5\u4e1a\u533a\uff0c\u7528\u4e8e\u65e0\u4eba\u7cfb\u7edf\u7684\u89c6\u89c9\u611f\u77e5\u548c\u5bfc\u822a\u7b97\u6cd5\u7684\u6d4b\u8bd5\u548c\u9a8c\u8bc1\u3002<\/p>\n<\/p>\n

2\u3001\u7269\u7406\u4eff\u771f<\/h4>\n<\/p>\n

AirSim\u7684\u7269\u7406\u4eff\u771f\u529f\u80fd\u5305\u62ec\u9ad8\u7cbe\u5ea6\u7684\u7269\u7406\u5f15\u64ce\u3001\u771f\u5b9e\u7684\u52a8\u529b\u5b66\u6a21\u578b\u548c\u591a\u79cd\u4f20\u611f\u5668\u6a21\u62df\u3002\u7269\u7406\u5f15\u64ce\u4f7f\u7528Unreal Engine 4\u7684\u7269\u7406\u6a21\u5757\uff0c\u6a21\u62df\u65e0\u4eba\u7cfb\u7edf\u548c\u73af\u5883\u7684\u7269\u7406\u4ea4\u4e92\u3002\u52a8\u529b\u5b66\u6a21\u578b\u5305\u62ec\u65e0\u4eba\u673a\u7684\u98de\u884c\u6a21\u578b\u548c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u9a7e\u9a76\u6a21\u578b\uff0c\u652f\u6301\u591a\u79cd\u8fd0\u52a8\u6a21\u5f0f\u548c\u63a7\u5236\u65b9\u5f0f\u3002\u4f20\u611f\u5668\u6a21\u62df\u529f\u80fd\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u7684\u6a21\u62df\uff0c\u5982\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u548cIMU\u3002<\/p>\n<\/p>\n

\n

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\u76f8\u5173\u95ee\u7b54FAQs\uff1a<\/strong><\/h2>\n

1. \u65e0\u4eba\u7cfb\u7edf\u5f00\u53d1\u5e73\u53f0\u63d0\u4f9b\u54ea\u4e9b\u529f\u80fd\uff1f<\/strong>
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