{"id":99,"date":"2021-11-21T11:19:36","date_gmt":"2021-11-21T11:19:36","guid":{"rendered":"http:\/\/47.103.123.166\/?p=99"},"modified":"2021-11-21T12:34:09","modified_gmt":"2021-11-21T12:34:09","slug":"%e8%bf%90%e5%8a%a8%e8%a7%84%e5%88%92%e5%ad%a6%e4%b9%a0%e7%ac%94%e8%ae%b02-%e5%9f%ba%e4%ba%8e%e9%87%87%e6%a0%b7","status":"publish","type":"post","link":"http:\/\/47.103.123.166\/?p=99","title":{"rendered":"\u8fd0\u52a8\u89c4\u5212\u5b66\u4e60\u7b14\u8bb02\u2014\u2014\u57fa\u4e8e\u91c7\u6837"},"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\u91c7\u6837<\/h1>\n<p>\u8fd9\u4e00\u90e8\u5206\u662f\u57fa\u4e8e\u91c7\u6837\u7684\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\uff0c\u4f9d\u6b21\u4ecb\u7ecdRRT\u3001RRT-connect\u3001RRT*\u3002\u53e6\u5916\uff0c\u6709\u5173RRT*\u7684\u5176\u4ed6\u884d\u751f\u7684\u7b97\u6cd5\uff0c\u65e5\u540e\u66f4\u65b0\u2026<\/p>\n<h2>RRT<\/h2>\n<p>1\u3001RRT (Rapidly-exploring Random Trees)\uff0c\u7ecf\u5178\u7684RRT\u662f\u5355\u6811RRT\uff0c\u7b97\u6cd5\u793a\u610f\u56fe\u5982\u4e0b\uff1a<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-99-619a2b492756b.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-99-619a2b497a8ab.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n2\u3001\u7b97\u6cd5\u4f2a\u4ee3\u7801\u89e3\u91ca\u5982\u4e0b\uff1a<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-99-619a2b49ac1fe.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-99-619a2b49e5b05.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n3\u3001RRT\u7684\u4e0d\u8db3<br \/>\n\u2460\u6536\u655b\u6162\uff0c\u76ee\u6807\u6027\u4e0d\u5f3a\uff0c\u8fd9\u4e00\u70b9\u76f8\u4f3c\u4e8eBFS\uff0c\u4e3a\u4e86\u6574\u4f53\u4e0a\u5411\u76ee\u6807\u70b9\u65b9\u5411\u751f\u957f\uff0c\u4e00\u79cd\u601d\u8def\u662f\u6839\u636e\u968f\u673a\u7684\u6982\u7387\uff0c\u91c7\u6837\u70b9\u968f\u673a\u5730\u9009\u62e9\u901a\u8fc7\u968f\u673a\u91c7\u6837\u8fd8\u662f\u76f4\u63a5\u4f7f\u7528\u76ee\u6807\u70b9\u4f5c\u4e3ax_rand\uff0c\u5373 x_rand = chooseTarget(sample(map),x_goal,p)\uff0c\u53e6\u4e00\u79cd\u601d\u8def\u662f\u53cc\u6811RRT\u3002<br \/>\n\u2461\u6ca1\u6709\u6700\u4f18\u89e3\uff0c\u2192RRT*\u6e10\u8fdb\u6700\u4f18\u89e3<br \/>\n\u2462\u91c7\u6837\u8303\u56f4\u4e3a\u6574\u4e2a\u7a7a\u95f4<\/p>\n<h2>RRT-connect<\/h2>\n<p>1\u3001\u4e3a\u63d0\u9ad8\u8ba1\u7b97\u6548\u7387\uff0c\u53ef\u4ee5\u540c\u65f6\u4ece\u8d77\u70b9\u548c\u7ec8\u70b9\u201c\u751f\u957f\u6811\u679d\u201d\u3002\u5c31\u50cf<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/133224593\">\u8fd9\u6837<\/a>\uff1a<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-99-619a2b4a21152.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>2\u3001\u57fa\u672c\u7684\u8fc7\u7a0b\uff0c\u5982\u56fe\u6240\u793a\uff1a<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-99-619a2b4a6cccb.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n3\u3001\u4f2a\u4ee3\u7801\uff0c<a href=\"https:\/\/www.cnblogs.com\/21207-iHome\/p\/7210543.html\">\u8fd9\u4e2a\u8fd8\u6bd4\u8f83\u8be6\u7ec6<\/a>\uff0c\u57fa\u672c\u8fc7\u7a0b\u5982\u4e0a\u56fe\uff0c\u4e0d\u518d\u7ec6\u6807<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-99-619a2b4aad63a.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>RRT*<\/h2>\n<p>1\u3001RRT*\u5bf9RRT\u7684\u6539\u8fdb<br \/>\nRRT\u5b58\u5728\u4e00\u4e2a\u95ee\u9898\uff0c\u867d\u7136\u80fd\u627e\u5230\u4e00\u6761\u53ef\u884c\u8def\u5f84\uff0c\u4f46\u4e0d\u4fdd\u8bc1\u6700\u4f18\u3002RRT*\u5728RRT\u7684\u57fa\u7840\u4e0a\uff0c\u8fdb\u884c\u6539\u8fdb\uff0c\u4f7f\u8def\u5f84\u6e10\u8fdb\u6700\u4f18\uff0c\u65b9\u6cd5\u662fx_near\u548cx_new\u4e0d\u4f1a\u76f4\u63a5\u8fde\u63a5\u8d77\u6765\uff0c\u800c\u662f\u505a\u4e00\u4e2a\u4f18\u5316\u5904\u7406\uff0c\u4ee4x_new\u5728\u4e00\u5b9a\u8303\u56f4\u5185\u91cd\u65b0\u9009\u62e9\u7236\u8282\u70b9\uff0c\u540c\u65f6rewire\uff08\u968f\u673a\u6811\u91cd\u5e03\u7ebf\uff09\u3002<br \/>\n2\u3001RRT*\u793a\u610f\u4e0e\u4f2a\u4ee3\u7801<br \/>\n\u2460\u793a\u610f<br \/>\n<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/133224593\">\u91cd\u9009\u7236\u8282\u70b9&amp;\u968f\u673a\u6811\u91cd\u5e03\u7ebf\u7684\u56fe\u793a\u70b9\u8fd9\u91cc<\/a>\uff0c\u63cf\u8ff0\u7684\u8fd8\u6bd4\u8f83\u6e05\u6670\u3002<br \/>\n\u2461\u4f2a\u4ee3\u7801<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-99-619a2b4ae82da.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-99-619a2b4b29947.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-99-619a2b4b646ff.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n\uff08\u867d\u7136\u8bf4\u662f\u4f2a\u4ee3\u7801\uff0c\u53ef\u80fd\u6ca1\u6709\u5f88\u4f2a\u4ee3\u7801\uff09<\/p>\n<p>\u2462\u53ef\u53c2\u8003\u7684\u66f4\u7b80\u6d01\u7684<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/51087819\">\u4f2a\u4ee3\u7801<\/a>\uff1a<br \/>\n<img src=\"http:\/\/47.103.123.166\/wp-content\/uploads\/2021\/11\/post-99-619a2b4bb1284.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n\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-99-619a2b4c01349.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:\/\/blog.csdn.net\/weixin_43465857\/article\/details\/96451631\"><a href=\"https:\/\/blog.csdn.net\/weixin_43465857\/article\/details\/96451631\">https:\/\/blog.csdn.net\/weixin_43465857\/article\/details\/96451631<\/a><\/a>  RRT\u7b97\u6cd5\u539f\u7406\u56fe\u89e3<br \/>\n2\u3001<a href=\"https:\/\/blog.csdn.net\/gophae\/article\/details\/103231053\"><a href=\"https:\/\/blog.csdn.net\/gophae\/article\/details\/103231053\">https:\/\/blog.csdn.net\/gophae\/article\/details\/103231053<\/a><\/a>  \u5168\u5c40\u8def\u5f84\u89c4\u5212\uff1a\u56fe\u641c\u7d22\u7b97\u6cd5\u4ecb\u7ecd4(RRT\/RRT*)<br \/>\n3\u3001<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/30333530\"><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/30333530\">https:\/\/zhuanlan.zhihu.com\/p\/30333530<\/a><\/a>  RRT\u7b97\u6cd5\u662f\u5982\u4f55\u5b9e\u73b0\u7684\uff1f\u6709\u54ea\u4e9b\u4f18\u7f3a\u70b9\uff1f<br \/>\n4\u3001<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/133224593\"><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/133224593\">https:\/\/zhuanlan.zhihu.com\/p\/133224593<\/a><\/a>  \u57fa\u4e8e\u91c7\u6837\u7684\u8fd0\u52a8\u89c4\u5212\u7b97\u6cd5-RRT(Rapidly-exploring Random Trees)<br \/>\n5\u3001<a href=\"https:\/\/www.cnblogs.com\/21207-iHome\/p\/7210543.html\"><a href=\"https:\/\/www.cnblogs.com\/21207-iHome\/p\/7210543.html\">https:\/\/www.cnblogs.com\/21207-iHome\/p\/7210543.html<\/a><\/a> RRT\u8def\u5f84\u89c4\u5212\u7b97\u6cd5<br \/>\n6\u3001<a href=\"https:\/\/blog.csdn.net\/a735148617\/article\/details\/103647804\"><a href=\"https:\/\/blog.csdn.net\/a735148617\/article\/details\/103647804\">https:\/\/blog.csdn.net\/a735148617\/article\/details\/103647804<\/a><\/a>  \u4ece\u96f6\u5f00\u59cb\u7684OMPL\u5e93\u7b97\u6cd5\u5b66\u4e60\uff082\uff09RRT-connect\u7b97\u6cd5<br \/>\n7\u3001<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/51087819\"><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/51087819\">https:\/\/zhuanlan.zhihu.com\/p\/51087819<\/a><\/a>  \u8def\u5f84\u89c4\u5212\u2014\u2014\u6539\u8fdbRRT\u7b97\u6cd5<br \/>\n8\u3001<a href=\"https:\/\/www.jianshu.com\/p\/489b0b39f3f2\"><a href=\"https:\/\/www.jianshu.com\/p\/489b0b39f3f2\">https:\/\/www.jianshu.com\/p\/489b0b39f3f2<\/a><\/a>  \u8fd0\u52a8\u89c4\u5212\u7b14\u8bb0\u2014\u2014\u90b1\u5f3a<\/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\u91c7\u6837 \u8fd9\u4e00\u90e8\u5206\u662f\u57fa\u4e8e\u91c7\u6837\u7684\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\uff0c\u4f9d\u6b21\u4ecb\u7ecdRRT\u3001RRT-connect\u3001RRT*\u3002\u53e6\u5916\uff0c\u6709\u5173RRT*\u7684\u5176\u4ed6\u884d\u751f\u7684\u7b97\u6cd5\uff0c\u65e5\u540e\u66f4\u65b0\u2026 RRT 1\u3001RRT (Rapidly-exploring Random Trees)\uff0c\u7ecf\u5178\u7684RRT\u662f\u5355\u6811RRT\uff0c\u7b97\u6cd5\u793a\u610f\u56fe\u5982\u4e0b\uff1a 2\u3001\u7b97\u6cd5\u4f2a\u4ee3\u7801\u89e3\u91ca\u5982\u4e0b\uff1a 3\u3001RRT\u7684\u4e0d\u8db3 \u2460\u6536\u655b\u6162\uff0c\u76ee\u6807\u6027\u4e0d\u5f3a\uff0c\u8fd9\u4e00\u70b9\u76f8\u4f3c\u4e8eBFS\uff0c\u4e3a\u4e86\u6574\u4f53\u4e0a\u5411\u76ee\u6807\u70b9\u65b9\u5411\u751f\u957f\uff0c\u4e00\u79cd\u601d\u8def\u662f\u6839\u636e\u968f\u673a\u7684\u6982\u7387\uff0c\u91c7\u6837\u70b9\u968f\u673a\u5730\u9009\u62e9\u901a\u8fc7\u968f\u673a\u91c7\u6837\u8fd8\u662f\u76f4\u63a5\u4f7f\u7528\u76ee\u6807\u70b9\u4f5c\u4e3ax_rand\uff0c\u5373 x_rand = chooseTarget(sample(map),x_goal,p)\uff0c\u53e6\u4e00\u79cd\u601d\u8def\u662f\u53cc\u6811RRT\u3002 \u2461\u6ca1\u6709\u6700\u4f18\u89e3\uff0c\u2192RRT*\u6e10\u8fdb\u6700\u4f18\u89e3 \u2462\u91c7\u6837\u8303\u56f4\u4e3a\u6574\u4e2a\u7a7a\u95f4 RRT-connect 1\u3001\u4e3a\u63d0\u9ad8\u8ba1\u7b97\u6548\u7387\uff0c\u53ef\u4ee5\u540c\u65f6\u4ece\u8d77\u70b9\u548c\u7ec8\u70b9\u201c\u751f\u957f\u6811\u679d\u201d\u3002\u5c31\u50cf\u8fd9\u6837\uff1a 2\u3001\u57fa\u672c\u7684\u8fc7\u7a0b\uff0c\u5982\u56fe\u6240\u793a\uff1a 3\u3001\u4f2a\u4ee3\u7801\uff0c\u8fd9\u4e2a\u8fd8\u6bd4\u8f83\u8be6\u7ec6\uff0c\u57fa\u672c\u8fc7\u7a0b\u5982\u4e0a\u56fe\uff0c\u4e0d\u518d\u7ec6\u6807 RRT* 1\u3001RRT*\u5bf9RRT\u7684\u6539\u8fdb RRT\u5b58\u5728\u4e00\u4e2a\u95ee\u9898\uff0c\u867d\u7136\u80fd\u627e\u5230\u4e00\u6761\u53ef\u884c\u8def\u5f84\uff0c\u4f46\u4e0d\u4fdd\u8bc1\u6700\u4f18\u3002RRT*\u5728RRT\u7684\u57fa\u7840\u4e0a\uff0c\u8fdb\u884c\u6539\u8fdb\uff0c\u4f7f\u8def\u5f84\u6e10\u8fdb\u6700\u4f18\uff0c\u65b9\u6cd5\u662fx_near\u548cx_new\u4e0d\u4f1a\u76f4\u63a5\u8fde\u63a5\u8d77\u6765\uff0c\u800c\u662f\u505a\u4e00\u4e2a\u4f18\u5316\u5904\u7406\uff0c\u4ee4x_new\u5728\u4e00\u5b9a\u8303\u56f4\u5185\u91cd\u65b0\u9009\u62e9\u7236\u8282\u70b9\uff0c\u540c\u65f6rewire\uff08\u968f\u673a\u6811\u91cd\u5e03\u7ebf\uff09\u3002 2\u3001RRT*\u793a\u610f\u4e0e\u4f2a\u4ee3\u7801 \u2460\u793a\u610f \u91cd\u9009\u7236\u8282\u70b9&amp;\u968f\u673a\u6811\u91cd\u5e03\u7ebf\u7684\u56fe\u793a\u70b9\u8fd9\u91cc\uff0c\u63cf\u8ff0\u7684\u8fd8\u6bd4\u8f83\u6e05\u6670\u3002 \u2461\u4f2a\u4ee3\u7801 \uff08\u867d\u7136\u8bf4\u662f\u4f2a\u4ee3\u7801\uff0c\u53ef\u80fd\u6ca1\u6709\u5f88\u4f2a\u4ee3\u7801\uff09 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