{"id":15381,"date":"2025-03-23T10:35:46","date_gmt":"2025-03-23T02:35:46","guid":{"rendered":"https:\/\/fgchen.com\/wpedu\/?p=15381"},"modified":"2026-03-30T14:28:29","modified_gmt":"2026-03-30T06:28:29","slug":"114-%e5%b0%88%e9%a1%8c-%e9%98%bf%e7%93%a6%e9%9a%86","status":"publish","type":"post","link":"https:\/\/fgchen.com\/wpedu\/2025\/03\/114-%e5%b0%88%e9%a1%8c-%e9%98%bf%e7%93%a6%e9%9a%86\/","title":{"rendered":"114 \u5c08\u984c-\u963f\u74e6\u9686"},"content":{"rendered":"\n<p><strong>ROSMASTER X3 Plus<\/strong> \u662f\u4e00\u6b3e\u5c08\u70ba\u6559\u80b2\u3001\u7814\u7a76\u548c\u696d\u9918\u611b\u597d\u8005\u8a2d\u8a08\u7684\u9ad8\u7d1a\u6a5f\u5668\u4eba\u958b\u767c\u5e73\u53f0\uff0c\u57fa\u65bc <strong>\u6a5f\u5668\u4eba\u64cd\u4f5c\u7cfb\u7d71\uff08ROS\uff09<\/strong> \u6846\u67b6\u958b\u767c\u3002\u4ee5\u4e0b\u662f\u5176\u529f\u80fd\u3001\u898f\u683c\u548c\u5178\u578b\u61c9\u7528\u5834\u666f\u7684\u8a73\u7d30\u4ecb\u7d39\uff1a<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u4e3b\u8981\u7279\u9ede<\/strong><\/h3>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u9ad8\u6548\u80fd\u904b\u7b97<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u642d\u8f09\u5f37\u5927\u7684\u8655\u7406\u5668\uff08\u5982 Rockchip \u6216\u5176\u4ed6 ARM \u67b6\u69cb\u8655\u7406\u5668\uff09\uff0c\u80fd\u5920\u8655\u7406\u8907\u96dc\u7684\u6a5f\u5668\u4eba\u4efb\u52d9\u3002<\/li>\n\n\n\n<li>\u652f\u63f4 ROS 1\uff08Noetic\uff09\u548c ROS 2\uff08Foxy\u3001Humble \u7b49\uff09\uff0c\u9069\u5408\u73fe\u4ee3\u6a5f\u5668\u4eba\u958b\u767c\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6a21\u7d44\u5316\u8a2d\u8a08<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u517c\u5bb9\u591a\u7a2e\u611f\u6e2c\u5668\u3001\u57f7\u884c\u5668\u548c\u5468\u908a\u8a2d\u5099\uff0c\u53ef\u6839\u64da\u9700\u6c42\u9032\u884c\u9ad8\u5ea6\u5ba2\u88fd\u5316\u3002<\/li>\n\n\n\n<li>\u652f\u63f4\u64f4\u5145\u6a21\u7d44\uff0c\u5982\u76f8\u6a5f\u3001LiDAR\u3001IMU \u7b49\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5167\u5efa\u611f\u6e2c\u5668<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u901a\u5e38\u914d\u5099\u76f8\u6a5f\u3001\u8d85\u8072\u6ce2\u611f\u6e2c\u5668\u6216 IMU\uff0c\u7528\u65bc\u5c0e\u822a\u3001\u7269\u9ad4\u5075\u6e2c\u548c\u74b0\u5883\u5efa\u5716\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7121\u7dda\u9023\u63a5<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5177\u5099 Wi-Fi 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has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5178\u578b\u898f\u683c<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8655\u7406\u5668<\/strong>\uff1aARM \u67b6\u69cb SoC\uff08\u5982 Rockchip RK3568 \u6216\u985e\u4f3c\u578b\u865f\uff09\u3002<\/li>\n\n\n\n<li><strong>\u8a18\u61b6\u9ad4<\/strong>\uff1a4GB \u6216 8GB\uff08\u4f9d\u578b\u865f\u800c\u5b9a\uff09\u3002<\/li>\n\n\n\n<li><strong>\u5132\u5b58\u7a7a\u9593<\/strong>\uff1a32GB \u6216 64GB eMMC\uff0c\u53ef\u900f\u904e microSD \u64f4\u5145\u3002<\/li>\n\n\n\n<li><strong>\u4f5c\u696d\u7cfb\u7d71<\/strong>\uff1aUbuntu\uff08\u517c\u5bb9 ROS\uff09\u3002<\/li>\n\n\n\n<li><strong>\u9023\u63a5\u65b9\u5f0f<\/strong>\uff1aWi-Fi\u3001\u85cd\u7259\u3001\u4ee5\u592a\u7db2\u3001USB\u3001HDMI\u3002<\/li>\n\n\n\n<li><strong>\u96fb\u6e90<\/strong>\uff1a\u53ef\u5145\u96fb\u96fb\u6c60\u6216\u5916\u90e8\u96fb\u6e90\u4f9b\u61c9\u3002<\/li>\n\n\n\n<li><strong>\u611f\u6e2c\u5668<\/strong>\uff1a\u76f8\u6a5f\u3001\u8d85\u8072\u6ce2\u3001IMU \u7b49\uff08\u4f9d\u578b\u865f\u800c\u5b9a\uff09\u3002<\/li>\n\n\n\n<li><strong>\u5c3a\u5bf8<\/strong>\uff1a\u8f15\u5de7\u4fbf\u651c\uff0c\u9069\u5408\u79fb\u52d5\u6a5f\u5668\u4eba\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u61c9\u7528\u5834\u666f<\/strong><\/h3>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6559\u80b2<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7528\u65bc\u5b78\u6821\u548c\u5927\u5b78\u6559\u6388\u6a5f\u5668\u4eba\u6280\u8853\u3001\u7a0b\u5f0f\u8a2d\u8a08\u548c AI \u6982\u5ff5\u3002<\/li>\n\n\n\n<li>\u63d0\u4f9b ROS \u548c\u6a5f\u5668\u4eba\u958b\u767c\u7684\u5be6\u8e10\u5b78\u7fd2\u6a5f\u6703\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7814\u7a76<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7528\u65bc\u81ea\u4e3b\u5c0e\u822a\u3001SLAM\u3001\u96fb\u8166\u8996\u89ba\u548c\u6a5f\u5668\u5b78\u7fd2\u7b97\u6cd5\u7684\u539f\u578b\u8a2d\u8a08\u8207\u6e2c\u8a66\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u696d\u9918\u5c08\u6848<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7528\u65bc\u500b\u4eba\u5c08\u6848\u3001\u6bd4\u8cfd\u6216 DIY \u611b\u597d\u8005\u7684\u6a5f\u5668\u4eba\u88fd\u4f5c\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5de5\u696d\u61c9\u7528<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c0f\u578b\u81ea\u52d5\u5316\u3001\u6aa2\u6e2c\u6a5f\u5668\u4eba\u6216\u5354\u4f5c\u6a5f\u5668\u4eba\uff08cobots\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5165\u9580\u6307\u5357<\/strong><\/h3>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5b89\u88dd ROS<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728 ROSMASTER X3 Plus \u4e0a\u5b89\u88dd ROS 1 \u6216 ROS 2\u3002<\/li>\n\n\n\n<li>\u53c3\u8003\u5b98\u65b9 ROS \u6559\u7a0b\u4ee5\u719f\u6089\u958b\u767c\u74b0\u5883\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u63a2\u7d22\u7bc4\u4f8b<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528\u63d0\u4f9b\u7684\u7bc4\u4f8b\u9805\u76ee\u5b78\u7fd2\u57fa\u672c\u529f\u80fd\uff0c\u5982\u99ac\u9054\u63a7\u5236\u3001\u611f\u6e2c\u5668\u6574\u5408\u548c\u5c0e\u822a\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5ba2\u88fd\u5316<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u64da\u9700\u6c42\u6dfb\u52a0\u984d\u5916\u7684\u611f\u6e2c\u5668\u6216\u57f7\u884c\u5668\u3002<\/li>\n\n\n\n<li>\u958b\u767c\u81ea\u5b9a\u7fa9 ROS \u7bc0\u9ede\u4ee5\u5be6\u73fe\u7279\u5b9a\u529f\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u793e\u7fa4\u652f\u63f4<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u52a0\u5165 ROS \u8ad6\u58c7\u3001GitHub \u5c08\u6848\u6216\u7528\u6236\u7fa4\u7d44\uff0c\u7372\u53d6\u6280\u8853\u652f\u63f4\u8207\u5408\u4f5c\u6a5f\u6703\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u8cfc\u8cb7\u7ba1\u9053<\/strong><\/h3>\n\n\n\n<p>ROSMASTER X3 Plus \u53ef\u900f\u904e\u4ee5\u4e0b\u7ba1\u9053\u8cfc\u8cb7\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Amazon<\/strong><\/li>\n\n\n\n<li><strong>AliExpress<\/strong><\/li>\n\n\n\n<li>\u5b98\u65b9\u6388\u6b0a\u7d93\u92b7\u5546<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u7e3d\u7d50<\/strong><\/h3>\n\n\n\n<p>ROSMASTER X3 Plus \u662f\u4e00\u6b3e\u529f\u80fd\u5f37\u5927\u4e14\u9748\u6d3b\u7684\u6a5f\u5668\u4eba\u958b\u767c\u5e73\u53f0\uff0c\u9069\u5408\u5f9e\u521d\u5b78\u8005\u5230\u5c08\u696d\u958b\u767c\u8005\u7684\u5404\u7a2e\u9700\u6c42\u3002\u7121\u8ad6\u662f\u5b78\u7fd2 ROS\u3001\u9032\u884c\u7814\u7a76\uff0c\u9084\u662f\u958b\u767c\u5275\u65b0\u7684\u6a5f\u5668\u4eba\u5c08\u6848\uff0c\u5b83\u90fd\u80fd\u63d0\u4f9b\u5f37\u5927\u7684\u652f\u63f4\u548c\u64f4\u5c55\u6027\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5c08\u984c\u76ee\u6a19<\/strong><\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5b78\u7fd2\u57fa\u790e\u77e5\u8b58<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u638c\u63e1 ROS \u7684\u57fa\u672c\u64cd\u4f5c\u8207\u958b\u767c\u6d41\u7a0b\u3002<\/li>\n\n\n\n<li>\u7406\u89e3\u6a5f\u5668\u5b78\u7fd2\u548c\u4eba\u5de5\u667a\u6167\u7684\u57fa\u790e\u7406\u8ad6\u8207\u61c9\u7528\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5be6\u8e10\u61c9\u7528<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c07\u6a5f\u5668\u5b78\u7fd2\u8207\u4eba\u5de5\u667a\u6167\u6280\u8853\u61c9\u7528\u65bc\u6a5f\u5668\u4eba\u5e73\u53f0\uff0c\u5be6\u73fe\u5177\u9ad4\u529f\u80fd\uff08\u5982\u7269\u9ad4\u8b58\u5225\u3001\u81ea\u4e3b\u5c0e\u822a\u7b49\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5718\u968a\u5408\u4f5c\u8207\u5c08\u6848\u7ba1\u7406<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57f9\u990a\u5718\u968a\u5408\u4f5c\u80fd\u529b\uff0c\u5b78\u7fd2\u5c08\u6848\u898f\u5283\u8207\u6642\u9593\u7ba1\u7406\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5c08\u984c\u898f\u5283<\/strong><\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u4e00\u968e\u6bb5\uff1a\u57fa\u790e\u5b78\u7fd2\u8207\u74b0\u5883\u642d\u5efa\uff082-3 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u719f\u6089 ROSMASTER X3 Plus<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b78\u7fd2\u5982\u4f55\u555f\u52d5\u8207\u63a7\u5236\u6a5f\u5668\u4eba\u3002<\/li>\n\n\n\n<li>\u4e86\u89e3\u786c\u9ad4\u67b6\u69cb\uff08\u8655\u7406\u5668\u3001\u611f\u6e2c\u5668\u3001\u57f7\u884c\u5668\u7b49\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5b89\u88dd\u8207\u914d\u7f6e ROS<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b89\u88dd ROS 1 \u6216 ROS 2\u3002<\/li>\n\n\n\n<li>\u5b78\u7fd2 ROS \u7684\u6838\u5fc3\u6982\u5ff5\uff0c\u5982\u7bc0\u9ede\uff08Nodes\uff09\u3001\u4e3b\u984c\uff08Topics\uff09\u3001\u670d\u52d9\uff08Services\uff09\u548c\u53c3\u6578\uff08Parameters\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5b78\u7fd2\u57fa\u790e\u7a0b\u5f0f\u8a2d\u8a08<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528 Python \u6216 C++ \u7de8\u5beb\u7c21\u55ae\u7684 ROS 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class=\"wp-block-list\">\n<li><strong>\u6a5f\u5668\u5b78\u7fd2\u57fa\u790e<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b78\u7fd2\u6a5f\u5668\u5b78\u7fd2\u7684\u57fa\u672c\u6982\u5ff5\uff08\u5982\u76e3\u7763\u5b78\u7fd2\u3001\u975e\u76e3\u7763\u5b78\u7fd2\u3001\u5f37\u5316\u5b78\u7fd2\uff09\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528 Python \u548c TensorFlow\/PyTorch \u9032\u884c\u7c21\u55ae\u7684\u6a5f\u5668\u5b78\u7fd2\u6a21\u578b\u8a13\u7df4\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u96fb\u8166\u8996\u89ba<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b78\u7fd2 OpenCV \u9032\u884c\u5716\u50cf\u8655\u7406\u3002<\/li>\n\n\n\n<li>\u8a13\u7df4\u4e00\u500b\u7c21\u55ae\u7684\u7269\u9ad4\u8b58\u5225\u6a21\u578b\uff08\u5982\u4f7f\u7528 YOLO \u6216 MobileNet\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6574\u5408 ROS \u8207 ML\/AI<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c07\u8a13\u7df4\u597d\u7684\u6a21\u578b\u90e8\u7f72\u5230 ROSMASTER X3 Plus \u4e0a\u3002<\/li>\n\n\n\n<li>\u5be6\u73fe\u5373\u6642\u7269\u9ad4\u8b58\u5225\u6216\u74b0\u5883\u611f\u77e5\u529f\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u4e09\u968e\u6bb5\uff1a\u5c08\u984c\u5be6\u4f5c\uff086-8 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5c08\u984c\u4e3b\u984c\u9078\u64c7<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u64da\u5b78\u751f\u7684\u8208\u8da3\u548c\u80fd\u529b\uff0c\u9078\u64c7\u4e00\u500b\u5177\u9ad4\u7684\u61c9\u7528\u5834\u666f\uff0c\u4f8b\u5982\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>\u81ea\u4e3b\u5c0e\u822a<\/strong>\uff1a\u4f7f\u7528 SLAM 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class=\"wp-block-list\">\n<li>\u958b\u767c\u5fc5\u8981\u7684 ROS \u7bc0\u9ede\u548c ML \u6a21\u578b\u3002<\/li>\n\n\n\n<li>\u9032\u884c\u6e2c\u8a66\u8207\u512a\u5316\uff0c\u78ba\u4fdd\u7cfb\u7d71\u7a69\u5b9a\u904b\u884c\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u56db\u968e\u6bb5\uff1a\u6210\u679c\u5c55\u793a\u8207\u5831\u544a\uff082-3 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6210\u679c\u5c55\u793a<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6e96\u5099\u4e00\u500b\u6f14\u793a\uff0c\u5c55\u793a\u5c08\u984c\u6210\u679c\uff08\u5982\u6a5f\u5668\u4eba\u81ea\u4e3b\u5c0e\u822a\u3001\u7269\u9ad4\u8b58\u5225\u7b49\uff09\u3002<\/li>\n\n\n\n<li>\u9304\u88fd\u6f14\u793a\u8996\u983b\uff0c\u4e26\u64b0\u5beb\u5c08\u984c\u5831\u544a\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5c08\u984c\u5831\u544a<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5305\u62ec\u5c08\u984c\u80cc\u666f\u3001\u65b9\u6cd5\u3001\u5be6\u4f5c\u904e\u7a0b\u3001\u7d50\u679c\u5206\u6790\u8207\u672a\u4f86\u6539\u9032\u65b9\u5411\u3002<\/li>\n\n\n\n<li>\u5f37\u8abf\u5718\u968a\u5408\u4f5c\u8207\u500b\u4eba\u8ca2\u737b\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u53cd\u601d\u8207\u5b78\u7fd2<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7d44\u7e54\u4e00\u6b21\u5718\u968a\u53cd\u601d\u6703\u8b70\uff0c\u7e3d\u7d50\u5b78\u7fd2\u7d93\u9a57\u8207\u6539\u9032\u5efa\u8b70\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 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class=\"wp-block-list\">\n<li>\u5b78\u7fd2\u7a4d\u6975\u6027\u8207\u554f\u984c\u89e3\u6c7a\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u7e3d\u7d50<\/strong><\/h3>\n\n\n\n<p>\u901a\u904e\u9019\u4efd\u5c08\u984c\u898f\u5283\uff0c\u5b78\u751f\u5c07\u80fd\u5920\u7cfb\u7d71\u6027\u5730\u5b78\u7fd2 ROS\u3001\u6a5f\u5668\u5b78\u7fd2\u548c\u4eba\u5de5\u667a\u6167\u6280\u8853\uff0c\u4e26\u5c07\u5176\u61c9\u7528\u65bc\u5be6\u969b\u7684\u6a5f\u5668\u4eba\u958b\u767c\u4e2d\u3002\u9019\u4e0d\u50c5\u80fd\u63d0\u5347\u4ed6\u5011\u7684\u6280\u8853\u80fd\u529b\uff0c\u9084\u80fd\u57f9\u990a\u5718\u968a\u5408\u4f5c\u8207\u5c08\u6848\u7ba1\u7406\u80fd\u529b\uff0c\u70ba\u672a\u4f86\u7684\u5b78\u8853\u7814\u7a76\u6216\u8077\u696d\u767c\u5c55\u6253\u4e0b\u5805\u5be6\u57fa\u790e\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u9910\u98f2\u5e36\u4f4d\u9001\u9910\u6a5f\u5668\u4eba &#8211; \u5c08\u984c\u76ee\u6a19<\/strong><\/h3>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u529f\u80fd\u9700\u6c42<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5e36\u4f4d\u529f\u80fd<\/strong>\uff1a\u6a5f\u5668\u4eba\u80fd\u5920\u5f15\u5c0e\u9867\u5ba2\u5230\u6307\u5b9a\u5ea7\u4f4d\u3002<\/li>\n\n\n\n<li><strong>\u9001\u9910\u529f\u80fd<\/strong>\uff1a\u6a5f\u5668\u4eba\u80fd\u5920\u5f9e\u5eda\u623f\u904b\u9001\u9910\u9ede\u5230\u9867\u5ba2\u5ea7\u4f4d\u3002<\/li>\n\n\n\n<li><strong>\u4eba\u6a5f\u4e92\u52d5<\/strong>\uff1a\u652f\u6301\u8a9e\u97f3\u6216\u89f8\u63a7\u4ecb\u9762\uff0c\u65b9\u4fbf\u9867\u5ba2\u8207\u6a5f\u5668\u4eba\u4e92\u52d5\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6280\u8853\u9700\u6c42<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5be6\u73fe\u81ea\u4e3b\u5c0e\u822a\u8207\u907f\u969c\u3002<\/li>\n\n\n\n<li>\u6574\u5408\u96fb\u8166\u8996\u89ba\u9032\u884c\u74b0\u5883\u611f\u77e5\u8207\u7269\u9ad4\u8b58\u5225\u3002<\/li>\n\n\n\n<li>\u8a2d\u8a08\u7c21\u55ae\u7684\u4eba\u6a5f\u4e92\u52d5\u4ecb\u9762\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5c08\u984c\u898f\u5283<\/strong><\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u4e00\u968e\u6bb5\uff1a\u9700\u6c42\u5206\u6790\u8207\u7cfb\u7d71\u8a2d\u8a08\uff082-3 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u9700\u6c42\u5206\u6790<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8207\u9910\u98f2\u696d\u8005\u6216\u6a21\u64ec\u5834\u666f\u8a0e\u8ad6\uff0c\u660e\u78ba\u6a5f\u5668\u4eba\u7684\u529f\u80fd\u9700\u6c42\u3002<\/li>\n\n\n\n<li>\u78ba\u5b9a\u6a5f\u5668\u4eba\u7684\u5de5\u4f5c\u74b0\u5883\uff08\u5982\u9910\u5ef3\u5e73\u9762\u5716\u3001\u5ea7\u4f4d\u5206\u4f48\u7b49\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7cfb\u7d71\u67b6\u69cb\u8a2d\u8a08<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8a2d\u8a08\u6a5f\u5668\u4eba\u7684\u8edf\u786c\u9ad4\u67b6\u69cb\uff0c\u5305\u62ec\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>\u786c\u9ad4<\/strong>\uff1aROSMASTER X3 Plus\u3001\u76f8\u6a5f\u3001LiDAR\u3001\u9ea5\u514b\u98a8\u3001\u5587\u53ed\u3001\u89f8\u63a7\u87a2\u5e55\u7b49\u3002<\/li>\n\n\n\n<li><strong>\u8edf\u9ad4<\/strong>\uff1aROS \u7bc0\u9ede\u3001\u5c0e\u822a\u6a21\u7d44\u3001\u96fb\u8166\u8996\u89ba\u6a21\u7d44\u3001\u4eba\u6a5f\u4e92\u52d5\u4ecb\u9762\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u7e6a\u88fd\u7cfb\u7d71\u67b6\u69cb\u5716\uff0c\u660e\u78ba\u5404\u6a21\u7d44\u7684\u8f38\u5165\u8f38\u51fa\u8207\u4e92\u52d5\u65b9\u5f0f\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4efb\u52d9\u5206\u914d<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u64da\u5718\u968a\u6210\u54e1\u7684\u8208\u8da3\u8207\u80fd\u529b\uff0c\u5206\u914d\u4efb\u52d9\uff08\u5982\u5c0e\u822a\u3001\u8996\u89ba\u3001\u4e92\u52d5\u4ecb\u9762\u7b49\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u4e8c\u968e\u6bb5\uff1a\u74b0\u5883\u5efa\u5716\u8207\u5c0e\u822a\uff084-5 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u74b0\u5883\u5efa\u5716\uff08SLAM\uff09<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528 LiDAR \u6216\u76f8\u6a5f\u9032\u884c\u9910\u5ef3\u74b0\u5883\u7684 2D\/3D \u5efa\u5716\u3002<\/li>\n\n\n\n<li>\u9078\u64c7\u5408\u9069\u7684 SLAM \u7b97\u6cd5\uff08\u5982 Google Cartographer \u6216 ROS \u7684 Gmapping\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8def\u5f91\u898f\u5283\u8207\u5c0e\u822a<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5be6\u73fe\u57fa\u65bc\u5730\u5716\u7684\u8def\u5f91\u898f\u5283\uff08\u5982 A* \u6216 Dijkstra \u7b97\u6cd5\uff09\u3002<\/li>\n\n\n\n<li>\u6574\u5408 ROS \u7684\u5c0e\u822a\u5806\u68e7\uff08Navigation Stack\uff09\uff0c\u5be6\u73fe\u52d5\u614b\u907f\u969c\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6e2c\u8a66\u8207\u512a\u5316<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u6a21\u64ec\u74b0\u5883\uff08\u5982 Gazebo\uff09\u4e2d\u6e2c\u8a66\u5c0e\u822a\u529f\u80fd\u3002<\/li>\n\n\n\n<li>\u5728\u5be6\u969b\u74b0\u5883\u4e2d\u9032\u884c\u6e2c\u8a66\uff0c\u512a\u5316\u53c3\u6578\u4ee5\u9069\u61c9\u9910\u5ef3\u7684\u52d5\u614b\u74b0\u5883\uff08\u5982\u79fb\u52d5\u7684\u684c\u6905\u548c\u9867\u5ba2\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u4e09\u968e\u6bb5\uff1a\u96fb\u8166\u8996\u89ba\u8207\u9001\u9910\u529f\u80fd\uff084-5 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u9910\u9ede\u8b58\u5225<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528\u96fb\u8166\u8996\u89ba\uff08\u5982 OpenCV \u6216 YOLO\uff09\u8b58\u5225\u4e0d\u540c\u9910\u9ede\u3002<\/li>\n\n\n\n<li>\u8a13\u7df4\u4e00\u500b\u7c21\u55ae\u7684\u5716\u50cf\u5206\u985e\u6a21\u578b\uff0c\u7528\u65bc\u8b58\u5225\u9910\u9ede\u985e\u578b\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u9910\u9ede\u6293\u53d6\u8207\u653e\u7f6e<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8a2d\u8a08\u4e00\u500b\u7c21\u55ae\u7684\u6a5f\u68b0\u81c2\u6216\u6258\u76e4\u7cfb\u7d71\uff0c\u7528\u65bc\u6293\u53d6\u548c\u653e\u7f6e\u9910\u9ede\u3002<\/li>\n\n\n\n<li>\u6574\u5408\u8996\u89ba\u8207\u6a5f\u68b0\u63a7\u5236\uff0c\u5be6\u73fe\u7cbe\u78ba\u7684\u9910\u9ede\u904b\u9001\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6e2c\u8a66\u8207\u512a\u5316<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6e2c\u8a66\u9910\u9ede\u8b58\u5225\u8207\u904b\u9001\u7684\u6e96\u78ba\u6027\u3002<\/li>\n\n\n\n<li>\u512a\u5316\u8996\u89ba\u7b97\u6cd5\u8207\u6a5f\u68b0\u63a7\u5236\uff0c\u63d0\u9ad8\u7cfb\u7d71\u7684\u7a69\u5b9a\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u56db\u968e\u6bb5\uff1a\u4eba\u6a5f\u4e92\u52d5\u8207\u7cfb\u7d71\u6574\u5408\uff084-5 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8a9e\u97f3\u4e92\u52d5<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6574\u5408\u8a9e\u97f3\u8b58\u5225\uff08\u5982 Google Speech-to-Text\uff09\u8207\u8a9e\u97f3\u5408\u6210\uff08\u5982 Google Text-to-Speech\uff09\u3002<\/li>\n\n\n\n<li>\u5be6\u73fe\u57fa\u672c\u7684\u8a9e\u97f3\u6307\u4ee4\uff08\u5982\u300c\u5e36\u6211\u5230\u5ea7\u4f4d A\u300d\u6216\u300c\u6211\u8981\u9ede\u9910\u300d\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u89f8\u63a7\u4ecb\u9762<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8a2d\u8a08\u4e00\u500b\u7c21\u55ae\u7684\u89f8\u63a7\u4ecb\u9762\uff0c\u7528\u65bc\u9078\u64c7\u5ea7\u4f4d\u6216\u67e5\u770b\u83dc\u55ae\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528 ROS \u7684 RViz \u6216\u81ea\u5b9a\u7fa9 GUI \u5de5\u5177\u5be6\u73fe\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7cfb\u7d71\u6574\u5408<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c07\u5c0e\u822a\u3001\u8996\u89ba\u3001\u4e92\u52d5\u6a21\u7d44\u6574\u5408\u5230\u4e00\u500b\u5b8c\u6574\u7684\u7cfb\u7d71\u4e2d\u3002<\/li>\n\n\n\n<li>\u9032\u884c\u7aef\u5230\u7aef\u6e2c\u8a66\uff0c\u78ba\u4fdd\u5404\u6a21\u7d44\u5354\u540c\u5de5\u4f5c\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u4e94\u968e\u6bb5\uff1a\u6e2c\u8a66\u8207\u512a\u5316\uff083-4 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u529f\u80fd\u6e2c\u8a66<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u6a21\u64ec\u74b0\u5883\u548c\u5be6\u969b\u74b0\u5883\u4e2d\u9032\u884c\u5168\u9762\u6e2c\u8a66\u3002<\/li>\n\n\n\n<li>\u8a18\u9304\u6e2c\u8a66\u7d50\u679c\uff0c\u767c\u73fe\u4e26\u4fee\u5fa9\u554f\u984c\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6027\u80fd\u512a\u5316<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u512a\u5316\u5c0e\u822a\u7b97\u6cd5\uff0c\u63d0\u9ad8\u6a5f\u5668\u4eba\u7684\u79fb\u52d5\u6548\u7387\u3002<\/li>\n\n\n\n<li>\u6539\u9032\u8996\u89ba\u7b97\u6cd5\uff0c\u63d0\u9ad8\u9910\u9ede\u8b58\u5225\u7684\u6e96\u78ba\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7528\u6236\u9ad4\u9a57\u6539\u9032<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u64da\u6e2c\u8a66\u53cd\u994b\uff0c\u6539\u9032\u4eba\u6a5f\u4e92\u52d5\u4ecb\u9762\uff0c\u63d0\u5347\u7528\u6236\u9ad4\u9a57\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7b2c\u516d\u968e\u6bb5\uff1a\u6210\u679c\u5c55\u793a\u8207\u5831\u544a\uff082-3 \u9031\uff09<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6210\u679c\u5c55\u793a<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6e96\u5099\u4e00\u500b\u5b8c\u6574\u7684\u6f14\u793a\uff0c\u5c55\u793a\u6a5f\u5668\u4eba\u7684\u5e36\u4f4d\u8207\u9001\u9910\u529f\u80fd\u3002<\/li>\n\n\n\n<li>\u9304\u88fd\u6f14\u793a\u8996\u983b\uff0c\u5c55\u793a\u6a5f\u5668\u4eba\u5728\u5be6\u969b\u74b0\u5883\u4e2d\u7684\u8868\u73fe\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5c08\u984c\u5831\u544a<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u64b0\u5beb\u5c08\u984c\u5831\u544a\uff0c\u5305\u62ec\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5c08\u984c\u80cc\u666f\u8207\u76ee\u6a19\u3002<\/li>\n\n\n\n<li>\u7cfb\u7d71\u8a2d\u8a08\u8207\u5be6\u4f5c\u7d30\u7bc0\u3002<\/li>\n\n\n\n<li>\u6e2c\u8a66\u7d50\u679c\u8207\u6027\u80fd\u5206\u6790\u3002<\/li>\n\n\n\n<li>\u672a\u4f86\u6539\u9032\u65b9\u5411\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5718\u968a\u53cd\u601d<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7d44\u7e54\u4e00\u6b21\u5718\u968a\u53cd\u601d\u6703\u8b70\uff0c\u7e3d\u7d50\u5b78\u7fd2\u7d93\u9a57\u8207\u6539\u9032\u5efa\u8b70\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u6280\u8853\u5de5\u5177\u8207\u8cc7\u6e90<\/strong><\/h3>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>ROS \u76f8\u95dc\u5de5\u5177<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Gazebo\uff08\u6a21\u64ec\u74b0\u5883\uff09\u3002<\/li>\n\n\n\n<li>RViz\uff08\u53ef\u8996\u5316\u5de5\u5177\uff09\u3002<\/li>\n\n\n\n<li>Navigation Stack\uff08\u5c0e\u822a\u6a21\u7d44\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6a5f\u5668\u5b78\u7fd2\u8207\u96fb\u8166\u8996\u89ba<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>TensorFlow\/PyTorch\uff08\u6a21\u578b\u8a13\u7df4\uff09\u3002<\/li>\n\n\n\n<li>OpenCV\uff08\u5716\u50cf\u8655\u7406\uff09\u3002<\/li>\n\n\n\n<li>YOLO\uff08\u7269\u9ad4\u8b58\u5225\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4eba\u6a5f\u4e92\u52d5<\/strong>\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Google Speech-to-Text 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