{"id":1013,"date":"2020-06-15T19:43:15","date_gmt":"2020-06-16T02:43:15","guid":{"rendered":"https:\/\/robodk.com\/cn\/blog\/?p=1013"},"modified":"2020-06-15T19:43:17","modified_gmt":"2020-06-16T02:43:17","slug":"prm%e8%bf%90%e5%8a%a8%e8%a7%84%e5%88%92%e5%99%a8","status":"publish","type":"post","link":"https:\/\/robodk.com\/cn\/blog\/prm%e8%bf%90%e5%8a%a8%e8%a7%84%e5%88%92%e5%99%a8\/","title":{"rendered":"RoboDK\u7684PRM\u8fd0\u52a8\u89c4\u5212\u5668"},"content":{"rendered":"\n<p>\u5728\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u5e76\u4e0d\u603b\u80fd\u4fdd\u8bc1\u81ea\u5df1\u7684\u5de5\u4f5c\u7a7a\u95f4\u662f\u6574\u6d01\u4e0e\u81ea\u7531\u5f00\u653e\u7684\u3002\u8fd9\u5bf9\u4e8e\u673a\u5668\u4eba\u7684\u5de5\u4f5c\u7a7a\u95f4\u4e5f\u662f\u4e00\u6837\u7684\u9053\u7406\u3002<\/p>\n\n\n\n<!--more-->\n\n\n\n<p>\u6709\u65f6\u5019\u673a\u5668\u4eba\u771f\u6b63\u53ef\u4ee5\u5de5\u4f5c\u7684\u533a\u57df\u5c31\u662f\u6bd4\u6211\u4eec\u539f\u6765\u8ba1\u5212\u7684\u8981\u5c0f\uff1b\u6216\u8005\u6709\u65f6\u5019\u8fd9\u4e2a\u7a7a\u95f4\u7684\u6b63\u4e2d\u95f4\u8fd8\u6709\u4e00\u6839\u5f04\u4e0d\u8d70\u7684\u67f1\u5b50\uff1b\u53c8\u6216\u8005\u662f\u4e00\u5927\u5806\u65e0\u5904\u53ef\u653e\u7f6e\u7684\u7bb1\u5b50\u2026\u2026<\/p>\n\n\n\n<p>\u53ea\u8981\u4f60\u7684\u673a\u5668\u4eba\u5728\u5de5\u4f5c\u65f6\u6709\u53ef\u80fd\u4e0e\u73af\u5883\u5185\u7684\u5176\u4ed6\u7269\u4f53\u53d1\u751f\u78b0\u649e\uff0c\u6211\u4eec\u7684\u8fd0\u52a8\u89c4\u5212\u5668\u5c31\u80fd\u591f\u5e2e\u4e0a\u4f60\u7684\u5fd9\u3002\u53ea\u9700\u4f7f\u7528\u4e00\u4e2a\u6309\u952e\uff0c\u4f60\u5c31\u53ef\u4ee5\u5728RoboDK\u7684PRM\u8fd0\u52a8\u89c4\u5212\u5668\u4e2d\u521b\u5efa\u51fa\u4e00\u6761\u907f\u514d\u78b0\u649e\u7684\u673a\u5668\u4eba\u8def\u5f84\u3002<\/p>\n\n\n\n<p>\u90a3\u4e48\u5b83\u662f\u5982\u4f55\u5de5\u4f5c\u7684\u5462\uff1f\u4e0b\u9762\u6211\u4eec\u5c31\u6765\u89e3\u8bfb\u4e00\u4e0b\u5b83\u7684\u8fd0\u4f5c\u539f\u7406\uff0c\u4ee5\u53ca\u4f60\u9700\u8981\u5728\u4ec0\u4e48\u65f6\u5019\u7528\u5230\u8fd9\u4e2a\u529f\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">PRM\u662f\u4ec0\u4e48\u610f\u601d\uff1f<\/h3>\n\n\n\n<p>RoboDK\u7684\u8fd0\u52a8\u89c4\u5212\u5668\u91c7\u7528\u4e86\u4e00\u79cd\u53eb\u505a\u201cPRM\u201d\u7684\u7b97\u6cd5\u3002\u8fd9\u4e9b\u5b57\u6bcd\u7684\u5168\u79f0\u662f\u201c<a href=\"https:\/\/en.wikipedia.org\/wiki\/Probabilistic_roadmap\">Probabilistic Roadmap<\/a>\u201d\uff08\u6982\u7387\u8def\u7ebf\u56fe\uff09\u3002\u8fd9\u662f\u4e00\u79cd\u5f88\u5e38\u89c1\u7684\u8fd0\u52a8\u89c4\u5212\u7c7b\u578b\uff0c\u6211\u4eec\u7a0d\u540e\u4f1a\u4f5c\u8be6\u7ec6\u4ecb\u7ecd\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u673a\u5668\u4eba\u800c\u8a00\uff0c\u6709\u5f88\u591a\u79cd\u4e0d\u540c\u7684\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u90fd\u80fd\u591f\u9002\u7528\uff0c\u5305\u62ec\u590d\u6742\u7684\u3001\u7b80\u5355\u7684\uff0c\u4ee5\u53ca\u6781\u4e3a\u7cbe\u51c6\u7684\u3002\u5982\u679c\u4f60\u5bf9\u8fd0\u52a8\u89c4\u5212\u5668\u5b8c\u5168\u4e0d\u719f\u6089\uff0c\u53ef\u4ee5\u53c2\u8003\u6211\u4eec\u4e0a\u4e00\u7bc7\u6587\u7ae0\u2014\u2014<a href=\"https:\/\/robodk.com\/cn\/blog\/\u8fd0\u52a8\u89c4\u5212\u57fa\u7840\/\">\u8fd0\u52a8\u89c4\u5212\u57fa\u7840<\/a>\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u5c31\u662fPRM\u4e09\u4e2a\u5b57\u6bcd\u7684\u5177\u4f53\u89e3\u91ca\uff1a<\/p>\n\n\n\n<p><em>\uff08\u7f16\u8005\u6ce8\uff1a\u6211\u4eec\u5728\u4e0a\u4e00\u7bc7<a href=\"https:\/\/robodk.com\/cn\/blog\/\u8fd0\u52a8\u89c4\u5212\u57fa\u7840\/\">\u535a\u6587<\/a>\u4e2d\u4ecb\u7ecd\u8fc7<strong>\u914d\u7f6e\u7a7a\u95f4<\/strong>\uff09<\/em><\/p>\n\n\n\n<p>\u5b57\u6bcdP\u610f\u4e3a\u6982\u7387\u6027\u7684\u2014\u2014\u201c\u914d\u7f6e\u7a7a\u95f4\u201d\u5185\u7684\u70b9\uff08\u5373\u89c4\u5212\u8005\u7528\u6765\u786e\u8ba4\u673a\u5668\u4eba\u5728\u5de5\u4f5c\u7a7a\u95f4\u5185\u53ef\u4ee5\u5230\u8fbe\u7684\u4e00\u7cfb\u5217\u70b9\uff09 \u7531\u89c4\u5212\u8005\u968f\u673a\u9009\u62e9\u3002\u8fd9\u6837\u968f\u673a\u7684\u914d\u7f6e\u5373\u4e3a\u201c\u6982\u7387\u6027\u7684\u201d\uff0c\u5b83\u76f8\u5bf9\u7acb\u4e8e\u201c\u7edf\u4e00\u7684\u201d\u914d\u7f6e\uff0c\u5373\u8fd9\u4e9b\u70b9\u88ab\u89c4\u5f8b\u6027\u5730\u89c4\u5212\u4e8e\u6574\u4e2a\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u3002<\/p>\n\n\n\n<p>\u5b57\u6bcdRM\u610f\u4e3a\u8def\u5f84\u56fe\u3002PRM\u7b97\u6cd5\u662f\u901a\u8fc7\u9996\u5148\u521b\u5efa\u4e00\u4e2a\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\u7684\u201c\u8def\u7ebf\u56fe\u201d\u6765\u5b8c\u6210\u7684\u3002\u8fd9\u4e2a\u5730\u56fe\u5c31\u50cf\u662f\u4f60\u624b\u673a\u4e0a\u7684GPS\u5bfc\u822a\u4e00\u6837\u3002\u4e00\u5f00\u59cb\u7684\u65f6\u5019\uff0c\u4f60\u5f97\u82b1\u4e00\u4e9b\u65f6\u95f4\u53bb\u751f\u6210\u8fd9\u4e2a\u5730\u56fe\uff0c\u4e00\u65e6\u751f\u6210\u540e\uff0c\u4f60\u5c31\u4e0d\u7528\u518d\u8fdb\u884c\u4efb\u4f55\u8ba1\u7b97\uff0c\u800c\u662f\u53ef\u4ee5\u5f88\u5feb\u6377\u5730\u67e5\u8be2\u5730\u56fe\u4e86\u3002<\/p>\n\n\n\n<p>\u7ed3\u5408\u8fd9\u4e24\u8005\u6765\u8bf4\uff0cPRM\u8fd0\u52a8\u89c4\u5212\u5668\u5177\u6709\u4ee5\u4e0b\u4e24\u79cd\u5c5e\u6027\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\" type=\"1\"><li>\u5b83\u603b\u80fd\u4e3a\u4f60\u627e\u5230\u673a\u5668\u4eba\u53ef\u884c\u7684\u8f68\u8ff9\uff08\u5982\u679c\u8be5\u8def\u7ebf\u5b58\u5728\u7684\u8bdd\uff09\u3002<\/li><li>\u5b83\u80fd\u591f\u4fdd\u5b58\u914d\u7f6e\u7a7a\u95f4\u7684\u8def\u7ebf\u56fe\uff0c\u8ba9\u4f60\u66f4\u5feb\u901f\u5730\u8fdb\u884c\u67e5\u8be2\u3002<\/li><\/ol>\n\n\n\n<p>\u8fd9\u4e5f\u662f\u4e3a\u4ec0\u4e48PRM\u89c4\u5212\u5668\u5982\u6b64\u53d7\u6b22\u8fce\u7684\u4e24\u70b9\u539f\u56e0\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">PRM\u662f\u5982\u4f55\u8fd0\u4f5c\u7684\uff1f<\/h3>\n\n\n\n<p>\u4e0d\u50cf\u522b\u7684\u4e00\u4e9b\u8fd0\u52a8\u89c4\u5212\u5668\uff0cPRM\u7b97\u6cd5\u628a\u5176\u5de5\u4f5c\u5212\u5206\u6210\u4e86\u4e24\u4e2a\u9636\u6bb5\u3002\u5728\u4f60\u4f7f\u7528RoboDK\u7684\u8fd9\u4e2a\u89c4\u5212\u5668\u4ee5\u524d\uff0c\u4f60\u9700\u8981\u8bbe\u7f6e\u51e0\u4e2a\u53c2\u6570\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"575\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-1-1024x575.png\" alt=\"\" class=\"wp-image-1036\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-1-1024x575.png 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-1-300x168.png 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-1-768x431.png 768w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-1.png 1031w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\">\u8bbe\u7f6e\u9636\u6bb5<\/h4>\n\n\n\n<p>\u6709\u4e09\u4e2a\u53c2\u6570\uff0c\u662f\u4f60\u9700\u8981\u5728\u4f7f\u7528\u8fd9\u4e2a\u89c4\u5212\u5668\u4ee5\u524d\u624b\u52a8\u8bbe\u7f6e\u7684\u3002\u4ee5\u4e0b\u662f\u5728RoboDK\u4e2d\u7684\u8bbe\u7f6e\u65b9\u6cd5\u53ca\u5404\u9879\u4ecb\u7ecd\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\" type=\"1\"><li>\u6837\u672c\u6570\u91cf\uff08Number of samples\uff09\u2014\u2014\u4f60\u9700\u8981\u9009\u62e9\u4e00\u4e2a\u201c\u6837\u672c\u201d\u6570\u91cf\uff0c\u8ba9\u89c4\u5212\u5668\u5728\u201c\u5efa\u8bbe\u9636\u6bb5\u201d\uff08\u89c1\u4e0b\u6587\uff09\u53ef\u4ee5\u5728\u673a\u5668\u4eba\u7684\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u8fdb\u884c\u5b9a\u4f4d\u3002\u6837\u672c\u8d8a\u5c11\uff0c\u610f\u5473\u7740\u5efa\u8bbe\u9636\u6bb5\u7684\u4efb\u52a1\u5b8c\u6210\u8d8a\u5feb\uff0c\u4f46\u8fd9\u4e5f\u4f1a\u4f7f\u8def\u7ebf\u56fe\u53d8\u5f97\u66f4\u4e3a\u7c97\u7cd9\u3002<\/li><li>\u6837\u672c\u7684\u8fde\u7ebf\u6570\uff08Edges per sample\uff09\u2014\u2014\u6bcf\u4e2a\u6837\u672c\u62e5\u6709\u201c\u8fde\u7ebf\u201d\u7684\u6700\u5927\u6570\u91cf\u3002\u6bcf\u6761\u8fde\u7ebf\u90fd\u8fde\u63a5\u7740\u4e24\u4e2a\u6837\u672c\u3002\u540c\u6837\u5730\uff0c\u8fde\u7ebf\u6570\u8d8a\u5c11\uff0c\u610f\u5473\u7740\u5efa\u8bbe\u9636\u6bb5\u8d8a\u5feb\uff0c\u4f46\u8fd9\u4e5f\u4f1a\u4f7f\u8def\u7ebf\u56fe\u53d8\u5f97\u66f4\u4e3a\u7c97\u7cd9\u3002<\/li><li>\u673a\u5668\u4eba\u6b65\u8fdb\u89d2\u5ea6\uff08Robot step (deg)\uff09\u2014\u2014\u5f53PRM\u7b97\u6cd5\u5728\u5efa\u8bbe\u9636\u6bb5\u8fd0\u884c\u65f6\uff0c\u5b83\u6bcf\u6b21\u4f1a\u5c0f\u8ddd\u79bb\u5730\u79fb\u52a8\u673a\u5668\u4eba\u3002\u8fd9\u4e2a\u8ddd\u79bb\u5c31\u53d6\u51b3\u4e8e\u673a\u5668\u4eba\u6b65\u8fdb\u7684\u8bbe\u7f6e\u3002\u6b65\u8fdb\u8d8a\u5927\uff0c\u610f\u5473\u7740\u5efa\u8bbe\u9636\u6bb5\u8d8a\u5feb\uff0c\u7136\u800c\u8fd9\u6837\u4e5f\u4f1a\u51fa\u73b0\u89c4\u5212\u5668\u65e0\u6cd5\u6ce8\u610f\u5230\u6f5c\u5728\u78b0\u649e\u7684\u98ce\u9669\u3002<\/li><\/ol>\n\n\n\n<p>\u8bbe\u7f6e\u597d\u8fd9\u51e0\u9879\u4ee5\u540e\uff0c\u4f60\u5c31\u53ef\u4ee5\u70b9\u51fb\u201c\u66f4\u65b0\u7ebf\u8def\u56fe\u201d\uff0c\u5e76\u8fdb\u5165\u5efa\u8bbe\u9636\u6bb5\u4e86\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u9636\u6bb51\uff1a\u5efa\u8bbe\uff08\u7f13\u6162\uff09<\/h4>\n\n\n\n<p>\u89c4\u5212\u7684\u7b2c\u4e00\u9636\u6bb5\u662f\u8981\u751f\u6210\u8def\u7ebf\u56fe\u3002\u8fd9\u53ef\u80fd\u4f1a\u8017\u8d39\u5f88\u957f\u65f6\u95f4\uff08\u4ee5100\u4e2a\u6837\u672c\u548c\u6bcf\u4e2a\u6837\u672c25\u4e2a\u8fde\u7ebf\u6765\u8ba1\u7b97\uff0c\u8fd9\u5927\u6982\u9700\u898115-30\u5206\u949f\uff09\u3002\u800c\u8fd9\u5c31\u662f\u89c4\u5212\u5668\u5728\u5efa\u8bbe\u9636\u6bb5\u80cc\u540e\u7684\u8fd0\u4f5c\u65b9\u5f0f\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\" type=\"1\"><li>\u89c4\u5212\u5668\u628a\u4e00\u4e2a\u201c\u6837\u672c\u201d\u653e\u7f6e\u5728\u673a\u5668\u4eba\u5de5\u4f5c\u533a\u57df\u5185\u7684\u81ea\u7531\u7a7a\u95f4\u4e2d\u3002<\/li><li>\u7b97\u6cd5\u4f1a\u5bf9\u8fd9\u4e2a\u6837\u672c\u53ca\u5176\u5468\u56f4\u6837\u672c\u7684\u8def\u5f84\u8fdb\u884c\u6d4b\u8bd5\u3002\u5b83\u901a\u8fc7\u8bbe\u5b9a\u7684\u201c\u673a\u5668\u4eba\u6b65\u8fdb\u89d2\u5ea6\u201d\u6765\u79fb\u52a8\u673a\u5668\u4eba\uff0c\u5e76\u68c0\u6d4b\u662f\u5426\u6709\u78b0\u649e\u7684\u60c5\u51b5\u3002\u5982\u679c\u8fd9\u4e2a\u8def\u5f84\u662f\u53ef\u884c\u7684\uff0c\u5b83\u5c06\u628a\u8fd9\u4f5c\u4e3a\u4e00\u6761\u201c\u8fde\u7ebf\u201d\u52a0\u5165\u5230\u8def\u7ebf\u56fe\u5f53\u4e2d\u3002<\/li><li>\u5f53\u89c4\u5212\u5668\u5bf9\u8fd9\u4e2a\u6837\u672c\u7684\u6d4b\u8bd5\u8fbe\u5230\u6700\u5927\u8fde\u7ebf\u6570\u503c\u65f6\uff0c\u5b83\u5c31\u4f1a\u7ee7\u800c\u5904\u7406\u4e0b\u4e00\u4e2a\u6837\u672c\u3002<\/li><\/ol>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" src=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-2-1024x576.png\" alt=\"\" class=\"wp-image-1037\" srcset=\"https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-2-1024x576.png 1024w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-2-300x169.png 300w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-2-768x432.png 768w, https:\/\/robodk.com\/cn\/blog\/wp-content\/uploads\/2020\/06\/RoboDK-PRM-Planner-2.png 1047w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" 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