{"id":2452,"date":"2022-09-06T01:20:10","date_gmt":"2022-09-05T23:20:10","guid":{"rendered":"https:\/\/magschnee.com\/?p=2452"},"modified":"2022-09-06T01:20:10","modified_gmt":"2022-09-05T23:20:10","slug":"2452","status":"publish","type":"post","link":"http:\/\/wuyujing.com\/index.php\/2022\/09\/06\/2452\/","title":{"rendered":""},"content":{"rendered":"

Path Planning in Complex 3D Environments Using a Probabilistic Roadmap Method
\nhttps:\/\/link.springer.com\/article\/10.1007\/s11633-013-0750-9<\/a><\/p>\n

\n

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On the Relationship between Classical Grid Search and Probabilistic Roadmaps
\nhttps:\/\/journals.sagepub.com\/doi\/abs\/10.1177\/0278364904045481<\/a><\/p>\n

\n

2.4. \u9488\u5bf9\u5355\u4e00\u67e5\u8be2\u7684\u61d2\u60f0PRM \u6700\u8fd1\u7684PRM\u53d8\u91cf\u88ab\u79f0\u4e3a\u61d2\u60f0PRM\uff0c\u5b83\u662f\u9488\u5bf9\u6709\u6548\u56de\u7b54\u5355\u4e00\u89c4\u5212\u67e5\u8be2\u7684\u95ee\u9898\u800c\u63d0\u51fa\u7684\uff0c\u800c\u4e0d\u662f\u5728\u8003\u8651\u89c4\u5212\u67e5\u8be2\u4e4b\u524d\u5efa\u7acb\u4e00\u4e2a\u5e7f\u6cdb\u7684\u8def\u7ebf\u56fe\uff08Bohlin\u548cKavraki 2000\uff09\u3002\u7531\u6b64\u4ea7\u751f\u7684\u89c4\u5212\u5668\u4e0e\u539f\u6765\u7684PRM\u76f8\u6bd4\u6709\u65f6\u975e\u5e38\u9ad8\u6548\u3002\u8fd9\u4ee3\u8868\u4e86\u4ece\u539f\u6765\u7684PRM\uff08Kavraki\u7b49\u4eba\uff0c1996\uff09\u7684\u591a\u91cd\u67e5\u8be2\u7406\u5ff5\u5230\u65e9\u671f\u7684\u4e00\u4e9b\u89c4\u5212\u5668\uff08Faverjon\u548cTournassoud\uff0c1987\uff1bBarraquand\u548cLatombe\uff0c1990\uff1bMazer\u7b49\u4eba\uff0c1992\uff09\u4e2d\u4f7f\u7528\u7684\u5355\u4e00\u67e5\u8be2\u7406\u5ff5\u7684\u8f6c\u53d8\u3002lazy PRM\u7684\u5173\u952e\u601d\u60f3\u662f\u5728\u4e0d\u4f7f\u7528\u78b0\u649e\u68c0\u6d4b\u5668\u7684\u60c5\u51b5\u4e0b\u521d\u6b65\u5efa\u7acb\u8def\u7ebf\u56fe\u3002\u4e0e\u56fe1\u7684\u7b97\u6cd5\u4e0d\u540c\u7684\u662f\uff0c\u7b2c6\u884c\u7684\u6761\u4ef6\u88ab\u653e\u5f03\uff0c\u800c\u7b2c7\u884c\u6bcf\u6b21\u90fd\u88ab\u6267\u884c\u3002\u8fd9\u4f7f\u5f97PRM\u80fd\u591f\u5feb\u901f\u6784\u5efa\uff1b\u7136\u800c\uff0c\u5728\u67e5\u8be2\u9636\u6bb5\uff0c\u641c\u7d22\u7684\u8d1f\u62c5\u66f4\u91cd\u3002\u4e00\u65e6\u7ed9\u51fa\u521d\u59cb\u76ee\u6807\u67e5\u8be2\uff0c\u89c4\u5212\u5668\u5c31\u4f1a\u5728\u8def\u7ebf\u56fe\u4e0a\u8fdb\u884cA*\u641c\u7d22\uff0c\u4ee5\u627e\u5230\u89e3\u51b3\u65b9\u6848\u3002\u5982\u679c\u6709\u4efb\u4f55\u89e3\u51b3\u65b9\u6848\u7684\u8fb9\u53d1\u751f\u4e86\u78b0\u649e\uff0c\u5b83\u4eec\u5c31\u4f1a\u4ece\u8def\u7ebf\u56fe\u4e2d\u88ab\u5220\u9664\uff0c\u7136\u540e\u91cd\u590dA\u2217\u641c\u7d22\u3002\u6700\u7ec8\uff0c\u6240\u6709\u7684\u8fb9\u53ef\u80fd\u90fd\u8981\u8fdb\u884c\u78b0\u649e\u68c0\u67e5\uff0c\u4f46\u901a\u5e38\u5728\u8fd9\u4e4b\u524d\u95ee\u9898\u5df2\u7ecf\u89e3\u51b3\u4e86\u3002\u53e6\u5916\uff0c\u6700\u597d\u53ea\u5728\u521d\u59cb\u56fe\u4e0a\u8fd0\u884c\u4e00\u6b21\u641c\u7d22\uff0c\u540c\u65f6\u5728\u641c\u7d22\u8fc7\u7a0b\u4e2d\u9a8c\u8bc1\u8fb9\uff08\u800c\u4e0d\u662f\u7b49\u5f85\u89e3\u51b3\u65b9\u6848\uff0c\u7136\u540e\u9a8c\u8bc1\u5b83\uff09\uff08Branicky\u7b49\u4eba\uff0c2001\uff09\u3002\u5982\u679c\u6ca1\u6709\u627e\u5230\u89e3\u51b3\u65b9\u6848\uff0c\u90a3\u4e48\u53ef\u80fd\u9700\u8981\u5728\u8def\u7ebf\u56fe\u4e0a\u6dfb\u52a0\u66f4\u591a\u7684\u8282\u70b9\u3002\u61d2\u60f0PRM\u7684\u4f18\u70b9\u662f\u53ea\u5728\u9700\u8981\u65f6\u8fdb\u884c\u78b0\u649e\u68c0\u67e5\u3002\u56e0\u6b64\uff0c\u6240\u6709\u7684\u8fb9\u4e0d\u5fc5\u50cf\u539f\u59cbPRM\u90a3\u6837\u8fdb\u884c\u78b0\u649e\u68c0\u67e5\u3002\u5728CGS\u4e2d\uff0c\u8fd9\u4e00\u7406\u5ff5\u610f\u5473\u7740\u4f4d\u56fe\u4e0d\u662f\u9884\u5148\u8ba1\u7b97\u7684\uff1b\u78b0\u649e\u68c0\u67e5\u53ea\u5728\u641c\u7d22\u8fc7\u7a0b\u4e2d\u6839\u636e\u9700\u8981\u8fdb\u884c\u3002<\/p>\n<\/blockquote>\n","protected":false},"excerpt":{"rendered":"

Path Planning in Complex 3D Environments Using a Probab […]<\/p>\n","protected":false},"author":1,"featured_media":2522,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8],"tags":[],"class_list":["post-2452","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-8"],"_links":{"self":[{"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/posts\/2452","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/comments?post=2452"}],"version-history":[{"count":0,"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/posts\/2452\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/media\/2522"}],"wp:attachment":[{"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/media?parent=2452"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/categories?post=2452"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/tags?post=2452"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}