{"id":95,"date":"2021-11-21T11:16:30","date_gmt":"2021-11-21T11:16:30","guid":{"rendered":"http:\/\/47.103.123.166\/?p=95"},"modified":"2021-11-21T14:36:44","modified_gmt":"2021-11-21T14:36:44","slug":"%e8%bf%90%e5%8a%a8%e8%a7%84%e5%88%92%e5%ad%a6%e4%b9%a0%e7%ac%94%e8%ae%b01-%e5%9f%ba%e4%ba%8e%e6%90%9c%e7%b4%a2","status":"publish","type":"post","link":"http:\/\/47.103.123.166\/?p=95","title":{"rendered":"\u8fd0\u52a8\u89c4\u5212\u5b66\u4e60\u7b14\u8bb01\u2014\u2014\u57fa\u4e8e\u641c\u7d22"},"content":{"rendered":"<p>\u5728\u8fd9\u91cc\u5206\u4eab\u4e86\u8fd0\u52a8\u89c4\u5212\u65b9\u9762\u7684\u4e00\u4e9b\u57fa\u672c\u7684\u7b97\u6cd5\u539f\u7406\u548c\u4f2a\u4ee3\u7801\u5b9e\u73b0\uff0c\u5176\u4e2d\u5185\u5bb9\u53ef\u80fd\u5b58\u5728\u4e0d\u5b8c\u5584\u548c\u9519\u8bef\u4e4b\u5904\uff0c\u5982\u6709\u8bfb\u8005\u53d1\u73b0\uff0c\u6b22\u8fce\u6279\u8bc4\u6307\u6b63\u3002<\/p>\n<h1>\u57fa\u4e8e\u641c\u7d22<\/h1>\n<p>\u8fd9\u4e00\u90e8\u5206\u662f\u57fa\u4e8e\u641c\u7d22\u7684\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\uff0c\u4f9d\u6b21\u4ecb\u7ecdBFS\u3001Dijkstra\u3001A* \u548cHybrid A*\uff0c\u4ece\u987a\u5e8f\u4e0a\u8bf4\uff0c\u8fd9\u56db\u79cd\u7b97\u6cd5\u4e5f\u662f\u4e00\u4e2a\u4e0d\u65ad\u8fed\u4ee3\u548c\u4f18\u5316\u7684\u8fc7\u7a0b\u3002\u53e6\u5916\uff0c\u6709\u5173A*\u7684\u5176\u4ed6\u884d\u751f\u7684\u7b97\u6cd5\uff0c\u65e5\u540e\u66f4\u65b0&#8230;<\/p>\n<h2>BFS<\/h2>\n<p>BFS\uff08Breadth-First-Searc\uff09\uff0c\u57fa\u672c\u601d\u60f3\u662f\u4ee5\u653e\u5c04\u72b6\u6269\u6563\u7684\u65b9\u5f0f\u904d\u5386\u6240\u6709\u70b9\u3002<br \/>\n<a href=\"https:\/\/blog.csdn.net\/AdamShan\/article\/details\/79945175\">\u56fe\u89e3BFS\u70b9\u8fd9\u91cc<\/a>\u3002<br \/>\nBFS\u7684<a href=\"https:\/\/www.redblobgames.com\/pathfinding\/a-star\/introduction.html\">\u4f2a\u4ee3\u7801<\/a>\u89e3\u91ca\u5982\u4e0b\uff1a<br \/>\n1\u3001\u57fa\u672c\u8fc7\u7a0b<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0cda659.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n2\u3001\u4e3a\u751f\u6210\u8def\u5f84\uff0c\u5f15\u5165\u7236\u8282\u70b9\u7684\u5b9a\u4e49<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0d18e75.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n3\u3001\u4e3a\u907f\u514d\u679a\u4e3e\u7684\u95ee\u9898\uff0c\u5f15\u5165\u542f\u53d1\u5f0f\u641c\u7d22\uff0c\u4ee5\u5f53\u524d\u70b9\u5230\u7ec8\u70b9\u7684\u8ddd\u79bb\u4e3a\u4ee3\u4ef7\uff08\u4f18\u5148\u7ea7\uff09<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0d50557.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n4\u3001\u8def\u5f84\u56de\u653e\uff0c\u751f\u6210\u6700\u7ec8\u8def\u5f84<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0d85761.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n5\u3001BFS\u7684\u4e00\u4e2a\u95ee\u9898\u662f\u5bb9\u6613\u5148\u5165\u4e3a\u4e3b\u5730\u8ba4\u4e3a\u6700\u5148\u904d\u5386\u7684\u5c31\u662f\u6700\u77ed\u8def\u5f84\u4e0a\u7684\u70b9\u3002<\/p>\n<h2>Dijkstra<\/h2>\n<p>Dijkstra\u4e5f\u91c7\u7528\u4e86BFS\u7c7b\u4f3c\u7684\u65b9\u6cd5\uff0c\u5176\u4ee3\u4ef7\u7684\u8ba1\u7b97\u65b9\u5f0f\u4e3a\u4ee5\u5f53\u524d\u70b9\u5230\u8d77\u70b9\u7684\u8ddd\u79bb\u4e3a\u4ee3\u4ef7\uff08\u4f18\u5148\u7ea7\uff09\u3002<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0dc3afe.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>A*<\/h2>\n<p>A*\u7b97\u6cd5\u7ed3\u5408\u4e86BFS\u548cDijkstra\u7684\u601d\u60f3\uff0c\u7efc\u5408\u5f53\u524d\u70b9\u5230\u8d77\u70b9\u548c\u7ec8\u70b9\u7684\u8ddd\u79bb\u548c\uff08\u4ee3\u4ef7\u548c\/\u4f18\u5148\u7ea7\uff09\u3002<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0e05bca.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>Hybrid A*<\/h2>\n<p>A*\u7b97\u6cd5\u89c4\u5212\u7684\u8f68\u8ff9\u7ecf\u8fc7\u65b9\u683c\u4e2d\u5fc3\uff0c\u73b0\u5b9e\u8f66\u8f86\u8def\u5f84\u65e0\u6cd5\u6ee1\u8db3\u8fd9\u4e00\u60c5\u51b5\uff0c\u56e0\u6b64\u63d0\u51fa\u4e86Hybrid A*\u3002<\/p>\n<p>1\u3001\u8fd9\u91cc\u6574\u7406\u4e86<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/103834150\">\u51e0\u79cd\u8f66\u8f86\u7684\u8fd0\u52a8\u5b66\u6a21\u578b<\/a>\uff1a<\/p>\n<p>\u2460 \u81ea\u884c\u8f66\u6a21\u578b\u7684\u57fa\u672c\u5047\u8bbe<br \/>\n\u00b7\u4e0d\u8003\u8651\u8f66\u8f86\u5782\u76f4\u65b9\u5411\u7684\u8fd0\u52a8\uff0c\u8ba4\u4e3a\u8f66\u8f86\u5728\u4e8c\u7ef4\u5e73\u9762\u4e0a\u8fd0\u52a8<br \/>\n\u00b7\u5de6\u53f3\u8f66\u8f6e\u5728\u8f6c\u901f\u548c\u8f6c\u89d2\u4e0a\u4e00\u81f4\uff0c\u4e24\u4e2a\u8f66\u8f6e\u53ef\u4ee5\u5408\u4e3a\u4e00\u4e2a<br \/>\n\u00b7\u8f66\u901f\u7f13\u6162\uff0c\u5ffd\u7565\u524d\u540e\u8f74\u8f7d\u8377\u7684\u8f6c\u79fb<br \/>\n\u00b7\u8f66\u8eab\u548c\u60ac\u67b6\u5747\u4e3a\u521a\u6027<br \/>\n\u00b7\u8f66\u8f86\u8f6c\u5411\u548c\u9a71\u52a8\u7531\u524d\u8f6e\u5b8c\u6210<br \/>\n\u2461 \u4ee5\u540e\u8f74\u4e2d\u5fc3\u4e3a\u539f\u70b9\u7684\u8f66\u8f86\u8fd0\u52a8\u5b66\u6a21\u578b\u2014\u2014\u8f93\u5165\uff08a\uff0c\u03c6\uff09  \u8f93\u51fa\u8f66\u8f86\u4f4d\u59ff\uff08x\uff0cy\uff0c\u03b8\uff09<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0e398e4.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n\u2462 \u4ee5\u8d28\u5fc3\u4e3a\u4e2d\u5fc3\u7684\u8f66\u8f86\u8fd0\u52a8\u5b66\u6a21\u578b\u2014\u2014\u8f93\u5165\uff08a\uff0c\u03b4\uff09  \u8f93\u51fa\u8f66\u8f86\u4f4d\u59ff\uff08x\uff0cy\uff0c\u03c8\uff09<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0e80246.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n\u2463 \u524d\u8f6e\u9a71\u52a8\u7684\u8f66\u8f86\u8fd0\u52a8\u5b66\u6a21\u578b\u2014\u2014\u8f93\u5165\uff08a\uff0c\u03b4\uff09  \u8f93\u51fa\u8f66\u8f86\u4f4d\u59ff\uff08x\uff0cy\uff0c\u03c8\uff09<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0eb4ef6.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n\u8fd9\u91cc\u5047\u8bbe\u6c7d\u8f66\u662f\u524d\u8f6e\u9a71\u52a8\u7684\uff0c\u6240\u4ee5\u8ba4\u4e3a\u65b9\u5411\u76d8\u7684\u8f6c\u89d2\u5c31\u7b49\u4e8e\u524d\u8f6e\u7684\u8f6c\u89d2\uff0c\u540e\u8f6e\u504f\u89d2\u4e3a0\u3002<\/p>\n<p>2\u3001\u4e00\u79cd\u8fd0\u52a8\u5b66\u6a21\u578b\u4e0b\u7684Hybrid A*\u7b97\u6cd5\u4f2a\u4ee3\u7801\u5b9e\u73b0<br \/>\n\u2460\u8fd0\u52a8\u5b66\u6a21\u578b\uff1a4-D \u79bb\u6563\u7f51\u683c\u4e2d\u7684\u8f66\u8f86\u72b6\u6001 &lt;x, y, \u03b8, is_foward&gt;\uff0c\u4ee5\u540e\u8f74\u4e3a\u4e2d\u5fc3\u7684\u8f66\u8f86\u8fd0\u52a8\u5b66\u6a21\u578b\uff08\u79bb\u6563\uff09\u3002<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0f0567e.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n\u2461\u4f2a\u4ee3\u7801<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0f35ae8.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0f68c84.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0fa085a.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b0fdb0d9.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n\u2462\u4e0eA*\u7684\u4e0d\u540c<br \/>\n0x00\uff1a\u4e8c\u7ef4\u53d8\u4e09\u7ef4\uff0c\u65b0\u589e\u504f\u822a\u89d2\u8fd9\u4e00\u7ef4<br \/>\n0x01\uff1a\u5bfb\u627e\u5f53\u524d\u4f4d\u7f6e\u5468\u56f4\u56db\u70b9\uff0c\u53d8\u6210\u5bfb\u627e\u5f53\u524d\u4f4d\u7f6e\u5728\u4e0d\u540c\u524d\u8f6e\u8f6c\u89d2\u4e0b\u7684\u591a\u4e2a\u70b9\uff08range\uff08-35,40,5\uff09\uff09<\/p>\n<p>\u4e0b\u9762\u662f\u7528QT\u5199\u7684\u4e00\u4e2a\u7b80\u5355\u5b9e\u73b0\uff1a<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-95-619a2b1025c59.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>\u53c2\u8003\u6587\u732e<\/h2>\n<p>1\u3001<a href=\"https:\/\/www.redblobgames.com\/pathfinding\/a-star\/introduction.html\"><a href=\"https:\/\/www.redblobgames.com\/pathfinding\/a-star\/introduction.html\">https:\/\/www.redblobgames.com\/pathfinding\/a-star\/introduction.html<\/a><\/a><br \/>\n2\u3001<a href=\"https:\/\/blog.csdn.net\/AdamShan\/article\/details\/79945175\"><a href=\"https:\/\/blog.csdn.net\/AdamShan\/article\/details\/79945175\">https:\/\/blog.csdn.net\/AdamShan\/article\/details\/79945175<\/a><\/a> \u65e0\u4eba\u9a7e\u9a76\u6c7d\u8f66\u7cfb\u7edf\u5165\u95e8\uff08\u5341\u516d\uff09\u2014\u2014\u6700\u77ed\u8def\u5f84\u641c\u7d22\u4e4bA*\u7b97\u6cd5<br \/>\n3\u3001<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/103834150\"><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/103834150\">https:\/\/zhuanlan.zhihu.com\/p\/103834150<\/a><\/a> \u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u8f66\u8f86\u8fd0\u52a8\u5b66\u6a21\u578b<br \/>\n4\u3001<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/139489196\"><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/139489196\">https:\/\/zhuanlan.zhihu.com\/p\/139489196<\/a><\/a>  \u81ea\u52a8\u9a7e\u9a76\u8fd0\u52a8\u89c4\u5212-Hybird A* \u7b97\u6cd5<br \/>\n5\u3001<a href=\"https:\/\/blog.csdn.net\/Rickey_lee09\/article\/details\/104795530\"><a href=\"https:\/\/blog.csdn.net\/Rickey_lee09\/article\/details\/104795530\">https:\/\/blog.csdn.net\/Rickey_lee09\/article\/details\/104795530<\/a><\/a>  \u65e0\u4eba\u9a7e\u9a76\u5b66\u4e60\u7b14\u8bb0\u2013\u8def\u5f84\u89c4\u5212\uff08\u4e00\uff09\u3010Trajectory Generation \u2013 Hybrid A*\u3011<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u8fd9\u91cc\u5206\u4eab\u4e86\u8fd0\u52a8\u89c4\u5212\u65b9\u9762\u7684\u4e00\u4e9b\u57fa\u672c\u7684\u7b97\u6cd5\u539f\u7406\u548c\u4f2a\u4ee3\u7801\u5b9e\u73b0\uff0c\u5176\u4e2d\u5185\u5bb9\u53ef\u80fd\u5b58\u5728\u4e0d\u5b8c\u5584\u548c\u9519\u8bef\u4e4b\u5904\uff0c\u5982\u6709\u8bfb\u8005\u53d1\u73b0\uff0c\u6b22\u8fce\u6279\u8bc4\u6307\u6b63\u3002 \u57fa\u4e8e\u641c\u7d22 \u8fd9\u4e00\u90e8\u5206\u662f\u57fa\u4e8e\u641c\u7d22\u7684\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\uff0c\u4f9d\u6b21\u4ecb\u7ecdBFS\u3001Dijkstra\u3001A* \u548cHybrid A*\uff0c\u4ece\u987a\u5e8f\u4e0a\u8bf4\uff0c\u8fd9\u56db\u79cd\u7b97\u6cd5\u4e5f\u662f\u4e00\u4e2a\u4e0d\u65ad\u8fed\u4ee3\u548c\u4f18\u5316\u7684\u8fc7\u7a0b\u3002\u53e6\u5916\uff0c\u6709\u5173A*\u7684\u5176\u4ed6\u884d\u751f\u7684\u7b97\u6cd5\uff0c\u65e5\u540e\u66f4\u65b0&#8230; BFS BFS\uff08Breadth-First-Searc\uff09\uff0c\u57fa\u672c\u601d\u60f3\u662f\u4ee5\u653e\u5c04\u72b6\u6269\u6563\u7684\u65b9\u5f0f\u904d\u5386\u6240\u6709\u70b9\u3002 \u56fe\u89e3BFS\u70b9\u8fd9\u91cc\u3002 BFS\u7684\u4f2a\u4ee3\u7801\u89e3\u91ca\u5982\u4e0b\uff1a 1\u3001\u57fa\u672c\u8fc7\u7a0b 2\u3001\u4e3a\u751f\u6210\u8def\u5f84\uff0c\u5f15\u5165\u7236\u8282\u70b9\u7684\u5b9a\u4e49 3\u3001\u4e3a\u907f\u514d\u679a\u4e3e\u7684\u95ee\u9898\uff0c\u5f15\u5165\u542f\u53d1\u5f0f\u641c\u7d22\uff0c\u4ee5\u5f53\u524d\u70b9\u5230\u7ec8\u70b9\u7684\u8ddd\u79bb\u4e3a\u4ee3\u4ef7\uff08\u4f18\u5148\u7ea7\uff09 4\u3001\u8def\u5f84\u56de\u653e\uff0c\u751f\u6210\u6700\u7ec8\u8def\u5f84 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[&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[2],"tags":[],"_links":{"self":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/95"}],"collection":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=95"}],"version-history":[{"count":6,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/95\/revisions"}],"predecessor-version":[{"id":119,"href":"http:\/\/47.103.123.166\/index.php?rest_route=\/wp\/v2\/posts\/95\/revisions\/119"}],"wp:attachment":[{"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=95"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=95"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/47.103.123.166\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=95"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}