https://blog.youkuaiyun.com/a_xiaoningzh-cnhttps://blog.youkuaiyun.com/https://blog.youkuaiyun.com/a_xiaoning/article/details/157067001https://blog.youkuaiyun.com/a_xiaoning/article/details/157067001a_xiaoningSat, 17 Jan 2026 18:42:46 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/151964253https://blog.youkuaiyun.com/a_xiaoning/article/details/151964253a_xiaoningMon, 22 Sep 2025 15:08:41 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/151936696https://blog.youkuaiyun.com/a_xiaoning/article/details/151936696a_xiaoningSun, 21 Sep 2025 23:13:27 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/151904074https://blog.youkuaiyun.com/a_xiaoning/article/details/151904074a_xiaoningSat, 20 Sep 2025 21:15:27 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/151832503https://blog.youkuaiyun.com/a_xiaoning/article/details/151832503a_xiaoningThu, 18 Sep 2025 16:11:35 +0800 0 时，说明两个向量同向，点积 < 0 时，说明两个向量反向。障碍物基准点：就是在控制点与交点连线上，离障碍物最近的点，在寻找时，使用障碍物网格地图的分辨率在连线上逐次寻找即可。]]>https://blog.youkuaiyun.com/a_xiaoning/article/details/151800448https://blog.youkuaiyun.com/a_xiaoning/article/details/151800448a_xiaoningWed, 17 Sep 2025 18:33:45 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/151722705https://blog.youkuaiyun.com/a_xiaoning/article/details/151722705a_xiaoningMon, 15 Sep 2025 17:43:46 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/151656178https://blog.youkuaiyun.com/a_xiaoning/article/details/151656178a_xiaoningSat, 13 Sep 2025 18:46:07 +0800getResolution() 表示栅格地图的分辨率，step_size 用来确认采样步长，保证采样点的密度不低于栅格精度，就可以避免越过障碍物。在 ego 中采用了一个小状态机来标记是否发生碰撞，使用内外两层检测，外层只检测初始轨迹的关键区间(中间的 2/3 段，认为首尾段无障碍)。]]>https://blog.youkuaiyun.com/a_xiaoning/article/details/151287886https://blog.youkuaiyun.com/a_xiaoning/article/details/151287886a_xiaoningSun, 07 Sep 2025 14:51:17 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/151158675https://blog.youkuaiyun.com/a_xiaoning/article/details/151158675a_xiaoningWed, 03 Sep 2025 22:49:45 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/151047610https://blog.youkuaiyun.com/a_xiaoning/article/details/151047610a_xiaoningSun, 31 Aug 2025 16:17:13 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/150920141https://blog.youkuaiyun.com/a_xiaoning/article/details/150920141a_xiaoningWed, 27 Aug 2025 11:12:49 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/150531845https://blog.youkuaiyun.com/a_xiaoning/article/details/150531845a_xiaoningTue, 19 Aug 2025 18:09:38 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/149942129https://blog.youkuaiyun.com/a_xiaoning/article/details/149942129a_xiaoningTue, 05 Aug 2025 17:25:25 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/149648648https://blog.youkuaiyun.com/a_xiaoning/article/details/149648648a_xiaoningFri, 25 Jul 2025 20:40:23 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/149561469https://blog.youkuaiyun.com/a_xiaoning/article/details/149561469a_xiaoningWed, 23 Jul 2025 09:55:56 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/149486020https://blog.youkuaiyun.com/a_xiaoning/article/details/149486020a_xiaoningSun, 20 Jul 2025 17:46:40 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/149426084https://blog.youkuaiyun.com/a_xiaoning/article/details/149426084a_xiaoningThu, 17 Jul 2025 17:12:48 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/149352586https://blog.youkuaiyun.com/a_xiaoning/article/details/149352586a_xiaoningTue, 15 Jul 2025 13:55:37 +0800https://blog.youkuaiyun.com/a_xiaoning/article/details/149274408https://blog.youkuaiyun.com/a_xiaoning/article/details/149274408a_xiaoningFri, 11 Jul 2025 14:46:49 +0800