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\u4e00\uff0e\u5f15\u8a00<\/h2>\n\n\n\n

1.1.\u5b9a\u4e49<\/h3>\n\n\n\n

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\n
\"\"<\/figure><\/div>\n\n\n

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  1. \u5b9e\u65f6\u6027\u5dee<\/li><\/ol>\n\n\n\n

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    • \u8ba1\u7b97\u65f6\u95f4\u957f\uff0c\u7b97\u6cd5\u590d\u6742\u5ea6\u9ad8<\/li><\/ul>\n\n\n\n

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        1. \u5b8c\u5168\u5206\u5e03\u5f0f\u63a7\u5236\u4f53\u7cfb\u7ed3\u6784<\/li><\/ol>\n\n\n\n

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          \n
          \"\"<\/figure><\/div>\n\n\n

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          \n
          \"\"<\/figure><\/div>\n\n\n

          1.2.\u6982\u8ff0<\/h3>\n\n\n\n

          \u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u5373\u591a\u4e2a\u65e0\u4eba\u673a\u7ec4\u6210\u7684\u96c6\u5408\uff0c\u5b83\u7684\u76ee\u6807\u662f\u5c06\u5927\u800c\u590d\u6742\u7684\u7cfb\u7edf\u96c6\u6210\u5c0f\u7684\u3001\u5f7c\u6b64\u4e92\u76f8\u901a\u4fe1\u548c\u534f\u8c03\u7684\u3001\u6613\u4e8e\u7ba1\u7406\u7684\u7cfb\u7edf\u3002\u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u5728\u8868\u8fbe\u5b9e\u9645\u7cfb\u7edf\u65f6\uff0c\u901a\u8fc7\u5404\u65e0\u4eba\u673a\u95f4\u7684\u901a\u8baf\u3001\u5408\u4f5c\u3001\u534f\u8c03\u3001\u8c03\u5ea6\u3001\u7ba1\u7406\u53ca\u63a7\u5236\u6765\u8868\u8fbe\u7cfb\u7edf\u7684\u673a\u6784\u3001\u529f\u80fd\u53ca\u884c\u4e3a\u7279\u6027\u3002<\/p>\n\n\n\n

          \u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u5177\u6709\u81ea\u4e3b\u6027\u3001\u7c89\u4e0d\u884c\u3001\u534f\u8c03\u6027\uff0c\u5e76\u5177\u6709\u81ea\u7ec4\u7ec7\u80fd\u529b\u3001\u5b66\u4e60\u80fd\u529b\u548c\u63a8\u7406\u80fd\u529b\u3002\u91c7\u7528\u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u89e3\u51b3\u5b9e\u9645\u5e94\u7528\u95ee\u9898\uff0c\u5177\u6709\u5f88\u5f3a\u7684\u9c81\u68d2\u6027\u548c\u53ef\u9760\u6027\uff0c\u5e76\u5177\u6709\u8f83\u9ad8\u7684\u95ee\u9898\u6c42\u89e3\u6548\u7387\u3002<\/p>\n\n\n\n

          \u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u65f6\u65e0\u4eba\u673a\u6280\u672f\u5e94\u7528\u53ca\u7814\u7a76\u7684\u4e00\u4e2a\u8d28\u7684\u98de\u8dc3\uff0c\u4e0d\u540c\u884c\u4e1a\u4e13\u5bb6\u5b66\u8005\u5bf9\u4e4b\u8fdb\u884c\u4e86\u6df1\u5165\u7684\u7814\u7a76\u5e76\u4ece\u591a\u4e2a\u89d2\u5ea6\u9610\u8ff0\u4e86\u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u7528\u4e8e\u89e3\u51b3\u5b9e\u9645\u95ee\u9898\u7684\u4f18\u52bf\uff0c\u5f52\u7eb3\u8d77\u6765\uff0c\u4e3b\u8981\u6709\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n\n\n\n

          1. \u5728\u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0c\u6bcf\u4e2a\u65e0\u4eba\u673a\u5177\u6709\u72ec\u7acb\u6027\u548c\u81ea\u4e3b\u6027\uff0c\u80fd\u591f\u89e3\u51b3\u7ed9\u5b9a\u7684\u5b57\u95ee\u9898\uff0c\u81ea\u4e3b\u5730\u63a8\u7406\u548c\u89c4\u5212\u5e76\u9009\u62e9\u9002\u5f53\u7684\u7b56\u7565\uff0c\u5e76\u4ee5\u7279\u5b9a\u7684\u65b9\u5f0f\u5f71\u54cd\u73af\u5883\uff1b<\/li>
          2. \u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u652f\u6301\u5206\u5e03\u5f0f\u5e94\u7528\uff0c\u6240\u4ee5\u8981\u5177\u6709\u826f\u597d\u7684\u6a21\u5757\u6027\u3001\u6613\u4e8e\u6269\u5c55\u6027\u548c\u8bbe\u8ba1\u7075\u6d3b\u7b80\u5355\uff0c\u5ba2\u670d\u4e86\u5efa\u8bbe\u4e00\u4e2a\u5e9e\u5927\u7684\u7cfb\u7edf\u6240\u9020\u6210\u7684\u7ba1\u7406\u548c\u6269\u5c55\u7684\u56f0\u96be\uff0c\u5e94\u6709\u6548\u964d\u4f4e\u7cfb\u7edf\u7684\u603b\u6210\u672c\uff1b<\/li>
          3. \u5728\u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u5b9e\u73b0\u8fc7\u7a0b\u4e2d\uff0c\u4e0d\u8ffd\u6c42\u5355\u4e2a\u5e9e\u5927\u590d\u6742\u7684\u4f53\u7cfb\uff0c\u800c\u662f\u6309\u9762\u5411\u5bf9\u8c61\u7684\u65b9\u6cd5\u7ed3\u6784\u591a\u5c42\u6b21\u3001\u591a\u5143\u5316\u7684\u8702\u7fa4\uff0c\u8981\u964d\u4f4e\u7cfb\u7edf\u7684\u590d\u6742\u6027\uff0c\u4e5f\u8981\u964d\u4f4e\u5404\u65e0\u4eba\u673a\u95ee\u9898\u6c42\u89e3\u7684\u590d\u6742\u6027\uff1b<\/li>
          4. \u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u662f\u4e00\u4e2a\u8bb2\u7a76\u534f\u8c03\u7684\u7cfb\u7edf\uff0c\u5404\u65e0\u4eba\u673a\u901a\u8fc7\u4e92\u76f8\u534f\u8c03\u53bb\u89e3\u51b3\u5927\u89c4\u6a21\u7684\u590d\u6742\u7684\u95ee\u9898\uff0c\u5176\u662f\u4e00\u4e2a\u96c6\u6210\u7cfb\u7edf\uff0c\u5b83\u91c7\u7528\u4fe1\u606f\u96c6\u6210\u6280\u672f\uff0c\u5c06\u5404\u5b50\u7cfb\u7edf\u7684\u4fe1\u606f\u96c6\u6210\u5728\u4e00\u8d77\uff0c\u5b8c\u6210\u590d\u6742\u7cfb\u7edf\u7684\u96c6\u6210\uff1b<\/li>
          5. \u5728\u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0c\u5404\u65e0\u4eba\u673a\u4e4b\u95f4\u901a\u4fe1\uff0c\u5f7c\u6b64\u534f\u8c03\uff0c\u5e76\u884c\u5730\u6c42\u89e3\u95ee\u9898\uff0c\u56e0\u6b64\u80fd\u6709\u6548\u5730\u63d0\u9ad8\u95ee\u9898\u6c42\u89e3\u7684\u80fd\u529b\u3002<\/li><\/ol>\n\n\n\n

            \u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf\u4e3b\u8981\u505a\u4e00\u4e0b\u4e09\u4e2a\u65b9\u9762\u7684\u7814\u7a76\uff1a<\/p>\n\n\n\n

            \u7f16\u961f\u961f\u5f62\u7684\u8bbe\u8ba1\uff0c\u591a\u4e2a\u65e0\u4eba\u673a\u5728\u6307\u4ee4\u4e0b\u8fd0\u884c\u81f3\u6307\u5b9a\u7684\u4f4d\u7f6e\uff0c\u5e76\u6700\u7ec8\u5b9e\u73b0\u65e2\u5b9a\u7684\u7f16\u961f\u5f62\u6001\uff0c\u9664\u4e86\u9700\u8981\u8003\u8651\u65e0\u4eba\u673a\u6c14\u52a8\u529b\u5f71\u54cd\u5916\uff0c\u8fd8\u8981\u8003\u8651\u4efb\u52a1\uff0c\u8981\u6c42\u65e0\u4eba\u673a\u95f4\u4fe1\u606f\u4ea4\u6362\u7684\u5197\u4f59\u5ea6\uff0c\u540c\u65f6\u4fdd\u8bc1\u65e0\u4eba\u673a\u4e4b\u95f4\u4e0d\u4f1a\u53d1\u751f\u78b0\u649e\uff1b<\/p>\n\n\n\n

            \u7f16\u961f\u961f\u5f62\u7684\u4fdd\u6301\uff0c\u5728\u65e0\u4eba\u673a\u6267\u884c\u6307\u5b9a\u6307\u4ee4\u8fc7\u7a0b\u4e2d\u80fd\u514b\u670d\u6765\u81ea\u7cfb\u7edf\u5185\u90e8\u6216\u5916\u5728\u73af\u5883\u5e72\u6270\uff0c\u8fdb\u800c\u4fdd\u6301\u6574\u4e2a\u961f\u5f62\u4e0d\u53d8\uff1b<\/p>\n\n\n\n

            \u7f16\u961f\u961f\u5f62\u7684\u53d8\u6362\uff0c\u5728\u65e0\u4eba\u673a\u884c\u8fdb\u8fc7\u7a0b\u4e2d\u80fd\u591f\u9002\u5e94\u6765\u81ea\u5185\u90e8\u6216\u5916\u5728\u73af\u5883\u5e72\u6270\u800c\u5bf9\u8702\u7fa4\u7f16\u961f\u505a\u51fa\u9002\u5f53\u4e14\u5408\u7406\u7684\u6539\u53d8\u3002<\/p>\n\n\n\n

            Ego-Planner swarm \u81ea\u4e3b\u8702\u7fa4\u63a7\u5236\uff0cGPS\u62d2\u6b62\u73af\u5883\uff0c\u8702\u7fa4\u81ea\u4e3b\u5b9a\u4f4d\/\u907f\u969c\u5bfc\u822a\u3002<\/p>\n\n\n\n

            1.3.\u7814\u7a76\u65b9\u5411<\/h3>\n\n\n\n

            1.\u65e0\u4eba\u673a\u8ddf\u8e2a\u8bc6\u522b\uff1b<\/p>\n\n\n\n

            2.\u65e0\u4eba\u673a\u641c\u5bfb\/\u8986\u76d6\/\u5efa\u56fe\uff1b<\/p>\n\n\n\n

            3.\u65e0\u4eba\u673a\u8702\u7fa4\u56f4\u6355\uff1b<\/p>\n\n\n\n

            4.\u65e0\u4eba\u673a\u5bdf\u6253\u4e00\u4f53\u8702\u7fa4\u5f00\u53d1\uff1b<\/p>\n\n\n\n

            5.\u65e0\u4eba\u673a\u591a\u673a\u5bf9\u6297\u7814\u7a76\uff1b\uff08\u7ea2\u84dd\u519b\uff09<\/p>\n\n\n\n

            6.\u65e0\u4eba\u673aGNSS\u62d2\u6b62\u73af\u5883\u81ea\u4e3b\u6d4b\u7ed8\uff1b<\/p>\n\n\n\n

            7.\u65e0\u4eba\u673aGNSS\u62d2\u6b62\u73af\u5883\u81ea\u4e3b\u5de1\u68c0\uff1b<\/p>\n\n\n\n

            8.\u65e0\u4eba\u673a\u5206\u5e03\u5f0f\u8702\u7fa4\uff08\u7b97\u6cd5\u7814\u7a76\uff09\u3002<\/p>\n\n\n\n

            \u4e8c\uff0e\u65b9\u6848\u4ecb\u7ecd<\/h2>\n\n\n\n

            2.1.\u786c\u4ef6<\/h3>\n\n\n
            \n
            \"\"<\/figure><\/div>\n\n\n

            \u5bf9\u89d2\u7ebf\u8f74\u8ddd\uff1a200mm\uff1b<\/p>\n\n\n\n

            \u7eed\u822a\u65f6\u95f4\uff1a30min\uff1b<\/p>\n\n\n\n

            \u6574\u5907\u91cd\u91cf\uff1a574.5g\uff1b<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            2.2.\u65e0\u4eba\u673a\u8702\u7fa4\u5206\u5e03\u5f0f\u63a7\u5236\u7cfb\u7edf<\/h3>\n\n\n\n

            \u88ab\u63a7\u5236\u5bf9\u8c61\uff1a<\/strong>6\u67b6AI\u89c6\u89c9\u65e0\u4eba\u673a\u8702\u7fa4\u5f00\u53d1\u5e73\u53f0\u2014\u2014\u732b\u5934\u9e70mini\uff1b<\/p>\n\n\n\n

            \u65e0\u4eba\u673a\u98de\u63a7\uff1a<\/strong>STM32\u4e3b\u63a7\u82af\u7247\uff0c\u4e09\u8f74\u52a0\u901f\u5ea6\u8ba1\/\u9640\u87ba\u4eeaICM20608\uff0c\u6c14\u538b\u8ba1MS5611\uff0c\u652f\u6301S.BUS\u5355\u603b\u7ebf\u63a5\u6536\u6a21\u5f0f\uff1b\u5c3c\u9f99\u5916\u58f3\uff1b\u98de\u63a7\u7559\u6709\u5168\u8272LED\u6307\u793a\u706f\uff1b\u652f\u6301\u5730\u9762\u7ad9USB\u5347\u7ea7\u56fa\u4ef6\uff1b<\/p>\n\n\n\n

            \u89c6\u89c9\u5bfc\u822a\uff1a<\/strong>\u81ea\u4e3b\u7814\u53d1\u53cc\u76ee\u89c6\u89c9VisBot\u4e3a\u65e0\u4eba\u673a\u63d0\u4f9b\u4e86\u89c6\u89c9\u5b9a\u4f4d\u548c\u907f\u969c\u529f\u80fd\u3002\u5305\u62ec\u53cc\u76ee\u89c6\u89c9(stereo camera)\u4f20\u611f\u5668\uff0c\u60ef\u6027\u5bfc\u822a\u6a21\u5757(IMU)\uff0c\u89c6\u89c9\u7b97\u6cd5\u8ba1\u7b97\u6a21\u5757(CVM)\u4e09\u4e2a\u90e8\u5206\u3002\u4e3a\u65e0\u4eba\u673a\u7684\u5ba4\u5185\u5b9a\u4f4d\u548c\u907f\u969c\u63d0\u4f9b\u4e86\u8ba1\u7b97\u5e73\u53f0\u548c\u7528\u4f8b\u3002\u6240\u4f7f\u7528\u7684\u89c6\u89c9\u7b97\u6cd5\uff08VIO\uff0cSLAM\uff0cplanner\u7b49\uff09\uff0c\u63d0\u4f9b\u76f8\u5bf9\u5e94\u7684\u5f00\u6e90\u53c2\u8003\u548c\u6240\u4f5c\u7684\u4fee\u6539\u3002\u5e73\u53f0\u65e2\u53ef\u4ee5\u4f5c\u4e3a\u65e0\u4eba\u673a\u89c6\u89c9\u5b9a\u4f4d\u6a21\u5757\u76f4\u63a5\u4f7f\u7528\uff0c\u4e5f\u53ef\u4ee5\u4f5c\u4e3a\u76f8\u5173\u7b97\u6cd5\u5f00\u53d1\u5e73\u53f0\u4f7f\u7528\u3002<\/p>\n\n\n\n

            \u673a\u8f7d\u7535\u8111\uff1a\u5e73\u53f0\u652f\u6301ROS\u63a5\u53e3\uff0c\u63d0\u4f9b\u4e866\u6838CPU\u548c5Tops TPU\u8ba1\u7b97\u8d44\u6e90\u3002\u540c\u65f6\u9884\u88c5\u4e86\u878d\u5408\u4e86\u6e2f\u79d1\u5927\u7684VINS_Fusion VIO\u7b97\u6cd5\u7684\u81ea\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u53ef\u4ee5\u6ee1\u8db3\u5ba4\u5185\u65e0\u4eba\u673a\u5b9a\u4f4d\u9700\u6c42\u3002\u540c\u65f6\u63d0\u4f9b\u4e86EGO-Planner\u89c6\u89c9\u907f\u969c\u7b97\u6cd5\uff0c\u53ef\u4ee5\u63d0\u4f9b\u89c6\u89c9\u907f\u969c\u529f\u80fd\u3002<\/p>\n\n\n\n

            \u6269\u5c55\u5f00\u53d1\u8bed\u8a00\uff1a\u652f\u6301C\u3001C++\u7f16\u7a0b\uff0c\u9002\u5408\u6709\u4e00\u5b9a\u4ee3\u7801\u5f00\u53d1\u80fd\u529b\u7684\u5b66\u751f\uff0c\u8fdb\u4e00\u6b65\u9524\u70bc\u4ee3\u7801\u7f16\u7a0b\u80fd\u529b\uff1b<\/p>\n\n\n\n

            \u53ef\u7528\u4e8e\u65e0\u4eba\u7cfb\u7edf\u7684\u52a8\u6001\u5efa\u6a21\u548c\u63a7\u5236\u7814\u7a76\u3001\u8fd0\u52a8\u89c4\u5212\u3001\u907f\u969c\u63a7\u5236\u3001\u591a\u4fe1\u606f\u878d\u5408\u3001\u7f16\u961f\u63a7\u5236\u3001\u591a\u667a\u80fd\u4f53\u534f\u540c\u63a7\u5236\u3001\u65e0\u4eba\u673a\u8702\u7fa4\u5f00\u53d1\u3001\u65e0\u4eba\u7cfb\u7edf\u81ea\u4e3b\u63a7\u5236\u7b49\u3002<\/p>\n\n\n\n

            2.3.\u529f\u80fd\u4ecb\u7ecd<\/h3>\n\n\n\n
            \"\"<\/figure>\n\n\n\n

            \u624b\u638c\u4e4b\u95f4\u81ea\u7531\u8d77\u843d<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u81ea\u4e3b\u907f\u969c\u98de\u884c\u901f\u5ea62m\/s<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u5ba4\u5185\u60ac\u505c\u6d4b\u8bd5<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u8def\u5f84\u89c4\u5212\uff0c\u81ea\u4e3b\u5bfc\u822a\u4e0e\u907f\u969c<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u76ee\u6807\u8bc6\u522b\u3001\u8ffd\u8e2a\u7b97\u6cd5\u5f00\u53d1\/\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u5bc6\u6797\u81ea\u4e3b\u98de\u884c<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u8702\u7fa4\u7f16\u961f\u7b97\u6cd5\u5f00\u53d1\/\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n

            2.4.\u8702\u7fa4\u8f6f\u4ef6\u67b6\u6784<\/h3>\n\n\n\n

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            \"\"<\/figure><\/div>\n\n\n

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            \n
            \"\"<\/figure><\/div>\n\n\n

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            \"\"<\/figure>\n\n\n
            \n
            \"\"<\/figure><\/div>\n\n\n

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