{"id":33125,"date":"2025-09-18T17:31:42","date_gmt":"2025-09-18T09:31:42","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33125"},"modified":"2025-09-18T17:31:42","modified_gmt":"2025-09-18T09:31:42","slug":"2025-09-18-%e6%97%a0%e5%bc%95%e5%af%bc%e7%ba%bf%e7%9a%84%e5%b7%a6%e8%bd%ac%e5%9c%ba%e6%99%af%e4%b8%8b%ef%bc%8c%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%a6%82%e4%bd%95%e8%a7%84%e5%88%92%e8%bd%a8%e8%bf%b9","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/18\/33125\/","title":{"rendered":"2025-09-18 \u65e0\u5f15\u5bfc\u7ebf\u7684\u5de6\u8f6c\u573a\u666f\u4e0b\uff0c\u81ea\u52a8\u9a7e\u9a76\u5982\u4f55\u89c4\u5212\u8f68\u8ff9\uff1f"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/www.163.com\/dy\/article\/K9NQ5JN50547KOTE.html\">https:\/\/www.163.com\/dy\/article\/K9NQ5JN50547KOTE.html<\/a><\/p>\n\n\n\n<p id=\"3UN2SIS9\">\u5bf9\u4e8e\u5f88\u591a\u65b0\u624b\u53f8\u673a\u6765\u8bf4\uff0c\u5728\u65e0\u5f15\u5bfc\u7ebf\u5de6\u8f6c\u7684\u573a\u666f\u4e2d\uff0c\u5f00\u8f66\u4f1a\u975e\u5e38\u8c28\u614e\uff0c\u4f46\u4f9d\u65e7\u4f1a\u5f88\u597d\u5730\u5904\u7406\u597d\u8fd9\u4e00\u64cd\u4f5c\u3002\u4f46\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6765\u8bf4\uff0c\u5176\u884c\u9a76\u9700\u8981\u6709\u8f83\u4e3a\u660e\u663e\u7684\u53c2\u8003\u7ebf\uff0c\u5728\u6ca1\u6709\u767d\u8272\u865a\u7ebf\u3001\u6ca1\u6709\u7bad\u5934\u611f\u77e5\u201c\u6211\u7684\u8f66\u9053\u5728\u54ea\u513f\u201d\u7684\u4ea4\u901a\u573a\u666f\u4e0b\uff0c\u60f3\u8981\u5f88\u597d\u5730\u5904\u7406\u597d\u65e0\u5f15\u5bfc\u7ebf\u5de6\u8f6c\u662f\u4e00\u4e2a\u975e\u5e38\u5927\u7684\u6311\u6218\u3002\u4f46\u60f3\u8981\u8ba9\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6ee1\u8db3\u6240\u6709\u7684\u51fa\u884c\u9700\u6c42\uff0c\u8fd9\u4e00\u573a\u666f\u5fc5\u987b\u89e3\u51b3\uff0c\u90a3\u5728\u65e0\u5f15\u5bfc\u7ebf\u7684\u5de6\u8f6c\u573a\u666f\u4e0b\uff0c\u81ea\u52a8\u9a7e\u9a76\u662f\u5982\u4f55\u8fdb\u884c\u8f68\u8ff9\u89c4\u5212\u7684\uff1f<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0918%2Fbc676dc7j00t2rf9u000nd000hs00bvm.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3UN2SISD\"><strong>\u65e0\u5f15\u5bfc\u7ebf\u7684\u5de6\u8f6c\u9700\u8981\u54ea\u4e9b\u6280\u672f\uff1f<\/strong><\/p>\n\n\n\n<p id=\"3UN2SISE\">\u9996\u5148\u8981\u660e\u786e\u4e00\u4e2a\u6838\u5fc3\u95ee\u9898\uff0c\u5728\u65e0\u5f15\u5bfc\u7ebf\u573a\u666f\u4e2d\uff0c\u8f68\u8ff9\u89c4\u5212\u4e0d\u518d\u53ea\u662f\u201c\u6cbf\u7740\u8f66\u9053\u4e2d\u5fc3\u8d70\u201d\u3002\u8f66\u9053\u8fb9\u754c\u3001\u9053\u8def\u51e0\u4f55\u751a\u81f3\u9053\u8def\u4f7f\u7528\u8005\u7684\u610f\u56fe\u90fd\u53ef\u80fd\u4e0d\u660e\u786e\u3002\u7cfb\u7edf\u5fc5\u987b\u5728\u4e0d\u786e\u5b9a\u6027\u4e2d\u505a\u51fa\u9009\u62e9\uff0c\u5373\u786e\u5b9a\u54ea\u6761\u8def\u5f84\u662f\u201c\u5408\u6cd5\u4e14\u5408\u7406\u201d\uff0c\u5728\u4f55\u65f6\u8ba9\u51fa\u4f18\u5148\u6743\u3001\u4f55\u65f6\u8fdb\u653b\u6027\u5730\u5207\u5165\u95f4\u9699\u3001\u5982\u4f55\u4fdd\u8bc1\u4e58\u5ba2\u8212\u9002\u540c\u65f6\u6ee1\u8db3\u52a8\u529b\u5b66\u7ea6\u675f\u3002\u5b9e\u73b0\u8fd9\u4e9b\u76ee\u6807\uff0c\u9700\u8981\u53ef\u9760\u7684\u73af\u5883\u611f\u77e5\u3001\u51c6\u786e\u7684\u884c\u4e3a\u9884\u6d4b\u3001\u7a33\u5065\u7684\u884c\u4e3a\u51b3\u7b56\uff08\u884c\u4e3a\u5c42\u89c4\u5212\uff09\u4ee5\u53ca\u6ee1\u8db3\u52a8\u529b\u5b66\u4e0e\u5b89\u5168\u7ea6\u675f\u7684\u8f68\u8ff9\u751f\u6210\u4e0e\u63a7\u5236\uff08\u8f68\u8ff9\u5c42\/\u8fd0\u52a8\u5c42\uff09\u7b49\u56db\u4e2a\u5c42\u6b21\u534f\u540c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"http:\/\/dingyue.ws.126.net\/2025\/0918\/f7f2bfd6g00t2rf9v04rhd000hs00b2m.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3UN2SISG\">\u5728\u611f\u77e5\u5c42\uff0c\u81ea\u52a8\u9a7e\u9a76\u9996\u5148\u8981\u5b8c\u6210\u7684\u662f\u5bf9\u73af\u5883\u8981\u7d20\u7684\u9ad8\u7cbe\u5ea6\u68c0\u6d4b\u4e0e\u8ddf\u8e2a\u3002\u6444\u50cf\u5934\u8d1f\u8d23\u8bc6\u522b\u4ea4\u901a\u6807\u5fd7\u3001\u8def\u7f18\u3001\u4eba\u884c\u9053\u548c\u8f66\u8f86\u5916\u5f62\uff0c\u96f7\u8fbe\u5728\u8fdc\u8ddd\u548c\u6076\u52a3\u5929\u6c14\u4e0b\u63d0\u4f9b\u901f\u5ea6\u5411\u91cf\uff0c\u6fc0\u5149\u96f7\u8fbe\uff08\u82e5\u88c5\u5907\uff09\u80fd\u5728\u4e09\u7ef4\u70b9\u4e91\u4e2d\u533a\u5206\u9759\u6001\u969c\u788d\u4e0e\u52a8\u6001\u76ee\u6807\u3002\u4f46\u662f\u5728\u201c\u65e0\u5f15\u5bfc\u7ebf\u201d\u573a\u666f\u4e2d\uff0c\u8f66\u9053\u8fb9\u754c\u4e0d\u80fd\u4f5c\u4e3a\u53ef\u9760\u53c2\u8003\uff0c\u8fd9\u65f6\u7cfb\u7edf\u4f1a\u628a\u9053\u8def\u8fb9\u7f18\uff08\u8def\u80a9\u3001\u95e8\u5eca\u3001\u4eba\u884c\u9053\u8fb9\u7f18\uff09\u4ee5\u53ca\u5176\u4ed6\u9053\u8def\u4f7f\u7528\u8005\u7684\u8d70\u5411\u4f5c\u4e3a\u66ff\u4ee3\u53c2\u8003\u3002\u8fd9\u4e00\u573a\u666f\u4e2d\uff0c\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\uff08GNSS+IMU+\u89c6\u89c9\/\u6fc0\u5149\u5b9a\u4f4d\uff09\u5c31\u975e\u5e38\u91cd\u8981\uff0c\u4f46\u5728\u57ce\u5e02\u5ce1\u8c37\u6216\u96a7\u9053\u4e2d\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u4f1a\u51fa\u73b0\u6f02\u79fb\uff0c\u56e0\u6b64\u4f20\u611f\u5668\u878d\u5408\u8981\u63d0\u4f9b\u4e00\u4e2a\u7a33\u5b9a\u7684\u53c2\u8003\u7cfb\uff0c\u4f7f\u540e\u7eed\u7684\u9884\u6d4b\u4e0e\u8f68\u8ff9\u89c4\u5212\u6709\u4e00\u6761\u53ef\u4fe1\u7684\u8f68\u8ff9\u57fa\u51c6\u7ebf\u3002<\/p>\n\n\n\n<p id=\"3UN2SISH\">\u9884\u6d4b\u5c42\u7684\u76ee\u6807\u662f\u4f30\u8ba1\u5176\u4ed6\u9053\u8def\u4f7f\u7528\u8005\u5728\u672a\u6765\u51e0\u79d2\u5185\u53ef\u80fd\u7684\u8f68\u8ff9\u5206\u5e03\u3002\u5728\u65e0\u5f15\u5bfc\u7ebf\u4ea4\u53c9\u53e3\uff0c\u5176\u4ed6\u8f66\u8f86\u7684\u884c\u4e3a\u66f4\u5177\u591a\u6837\u6027\uff0c\u6709\u4eba\u4f1a\u51cf\u901f\u8ba9\u884c\uff0c\u6709\u4eba\u4f1a\u6293\u4f4f\u5c0f\u95f4\u9699\u7a7f\u8fc7\u53bb\uff0c\u8fd8\u6709\u4e9b\u53ef\u80fd\u4f1a\u52a0\u901f\u62a2\u884c\u3002\u9884\u6d4b\u6a21\u578b\u901a\u5e38\u8981\u8f93\u51fa\u591a\u6a21\u6001\u7684\u672a\u6765\u8f68\u8ff9\u5206\u5e03\uff0c\u6bcf\u6761\u8f68\u8ff9\u5e26\u6709\u6982\u7387\u6743\u91cd\u3002\u8fd9\u5176\u4e2d\u5e38\u89c1\u7684\u6280\u672f\u5305\u62ec\u57fa\u4e8e\u8f68\u8ff9\u5386\u53f2\u7684\u7269\u7406\u6a21\u578b\u3001\u5e26\u793e\u4f1a\u529b\u6216\u4ea4\u4e92\u9879\u7684\u5b66\u4e60\u6a21\u578b\uff0c\u4ee5\u53ca\u7ed3\u5408\u5730\u56fe\u548c\u610f\u56fe\u7406\u89e3\u7684\u6df7\u5408\u6a21\u578b\u3002\u5fc5\u987b\u5f3a\u8c03\u7684\u662f\uff0c\u9884\u6d4b\u7684\u4e0d\u786e\u5b9a\u6027\u662f\u8f68\u8ff9\u89c4\u5212\u7684\u6838\u5fc3\u8f93\u5165\u4e4b\u4e00\uff0c\u51b3\u7b56\u5c42\u4e0d\u4f1a\u4ec5\u91c7\u7528\u201c\u6700\u53ef\u80fd\u201d\u8f68\u8ff9\u6765\u8bc4\u4f30\u78b0\u649e\u98ce\u9669\uff0c\u800c\u662f\u8981\u5bf9\u591a\u79cd\u53ef\u80fd\u6027\u505a\u9c81\u68d2\uff08robust\uff09\u5904\u7406\uff0c\u5728\u6982\u7387\u7a7a\u95f4\u4e0a\u4fdd\u8bc1\u5b89\u5168\u8fb9\u754c\u3002<\/p>\n\n\n\n<p id=\"3UN2SISI\">\u884c\u4e3a\u51b3\u7b56\u5c42\uff08\u6216\u79f0\u7b56\u7565\u5c42\uff09\u4e3b\u8981\u627f\u62c5\u201c\u6211\u8981\u600e\u4e48\u505a\u201d\u7684\u95ee\u9898\uff0c\u5373\u786e\u5b9a\u662f\u7b49\u5f85\u3001\u5411\u524d\u63a2\u5934\u3001\u8fd8\u662f\u65cb\u5373\u8f6c\u5165\uff1f\u5728\u65e0\u5f15\u5bfc\u7ebf\u5de6\u8f6c\u4e2d\u7684\u51b3\u7b56\u8fc7\u7a0b\u5f80\u5f80\u6bd4\u8def\u5f84\u7ec6\u8282\u66f4\u91cd\u8981\u3002\u51b3\u7b56\u5668\u9700\u8981\u7efc\u5408\u6cd5\u5f8b\u89c4\u5219\uff08\u4f8b\u5982\u4f18\u5148\u6743\uff09\u3001\u5f53\u5730\u9a7e\u9a76\u6587\u5316\uff08\u4f8b\u5982\u662f\u5426\u5b58\u5728\u62a2\u884c\u73b0\u8c61\uff09\u3001\u5b9e\u65f6\u4ea4\u901a\u5bc6\u5ea6\u3001\u5bf9\u65b9\u8f66\u8f86\u901f\u5ea6\u4e0e\u52a0\u901f\u5ea6\u8d8b\u52bf\uff0c\u4ee5\u53ca\u81ea\u8eab\u8f66\u8f86\u7684\u6027\u80fd\u9650\u5236\u6765\u5224\u5b9a\u662f\u5426\u63a5\u53d7\u67d0\u4e2a\u65f6\u95f4\u95f4\u9694\uff08gap\uff09\u3002\u5f88\u591a\u7cfb\u7edf\u91c7\u7528\u57fa\u4e8e\u89c4\u5219\u52a0\u6982\u7387\u7684\u6df7\u5408\u65b9\u6cd5\uff0c\u5728\u660e\u786e\u7684\u89c4\u5219\u573a\u666f\u4e0b\u5148\u7528\u89c4\u5219\u88c1\u51b3\uff08\u5982\u201c\u8ba9\u884c\u7ed9\u8fce\u9762\u6765\u8f66\u201d\uff09\uff0c\u5728\u89c4\u5219\u6a21\u7cca\u6216\u573a\u666f\u590d\u6742\u65f6\u5f15\u5165\u57fa\u4e8e\u4ee3\u4ef7\/\u6536\u76ca\u7684\u4f18\u5316\u6216\u535a\u5f08\u6a21\u578b\u6765\u9009\u62e9\u6700\u4f18\u7b56\u7565\u3002\u66f4\u9ad8\u7ea7\u7684\u505a\u6cd5\u4f1a\u4ee5\u6982\u7387\u5b89\u5168\u8fb9\u754c\u4e3a\u51c6\u2014\u2014\u5728\u4efb\u610f\u9884\u6d4b\u4e0b\uff0c\u9009\u53d6\u80fd\u5728\u7ed9\u5b9a\u7f6e\u4fe1\u5ea6\u4e0b\u907f\u514d\u78b0\u649e\u7684\u52a8\u4f5c\u3002<\/p>\n\n\n\n<p id=\"3UN2SISJ\">\u5728\u8f68\u8ff9\u751f\u6210\u5c42\uff0c\u7cfb\u7edf\u9700\u8981\u628a\u884c\u4e3a\u51b3\u7b56\u8f6c\u5316\u4e3a\u5177\u4f53\u7684\u65f6\u95f4\u53c2\u6570\u5316\u8def\u5f84\uff08x(t),y(t),\u03b8(t)\uff09\uff0c\u5e76\u4fdd\u8bc1\u8be5\u8f68\u8ff9\u6ee1\u8db3\u8f66\u8f86\u52a8\u529b\u5b66\u4e0e\u4e58\u5ba2\u8212\u9002\u6027\u7ea6\u675f\u540c\u65f6\u907f\u5f00\u9884\u6d4b\u7684\u52a8\u6001\u969c\u788d\u3002\u5e38\u89c1\u65b9\u6cd5\u53ef\u4ee5\u5206\u4e3a\u91c7\u6837\u751f\u6210\u4e0e\u4f18\u5316\u6c42\u89e3\u4e24\u5927\u7c7b\u3002\u91c7\u6837\u751f\u6210\u65b9\u6cd5\u4f1a\u5728\u884c\u4e3a\u5c42\u7ed9\u5b9a\u7684\u53c2\u8003\u533a\u57df\u5185\u751f\u6210\u5927\u91cf\u5019\u9009\u8f68\u8ff9\uff08\u4f8b\u5982\u91c7\u6837\u4e0d\u540c\u66f2\u7387\u3001\u4e0d\u540c\u901f\u5ea6\u66f2\u7ebf\uff09\uff0c\u5bf9\u6bcf\u6761\u5019\u9009\u8f68\u8ff9\u8fdb\u884c\u78b0\u649e\u68c0\u6d4b\u3001\u52a8\u529b\u5b66\u53ef\u884c\u6027\u6821\u9a8c\u548c\u4ee3\u4ef7\u8bc4\u4f30\uff0c\u6700\u7ec8\u9009\u53d6\u6700\u4f18\u89e3\u3002\u4f18\u5316\u65b9\u6cd5\u5219\u628a\u8f68\u8ff9\u751f\u6210\u770b\u6210\u5e26\u7ea6\u675f\u7684\u6700\u4f18\u5316\u95ee\u9898\uff0c\u6700\u5c0f\u5316\u4e00\u4e2a\u6216\u591a\u4e2a\u4ee3\u4ef7\u9879\uff08\u5982\u8f68\u8ff9\u504f\u79bb\u3001\u52a0\u901f\u5ea6\/\u52a0jerk\u60e9\u7f5a\u3001\u5b89\u5168\u8ddd\u79bb\u8fdd\u7ea6\u7b49\uff09\uff0c\u5e76\u901a\u8fc7\u6570\u503c\u6c42\u89e3\u5668\u5f97\u5230\u8fde\u7eed\u7684\u8f68\u8ff9\u3002\u4f18\u5316\u65b9\u6cd5\u901a\u5e38\u66f4\u5e73\u6ed1\u3001\u53c2\u6570\u66f4\u5c11\uff0c\u4f46\u5bf9\u521d\u59cb\u503c\u548c\u6c42\u89e3\u65f6\u95f4\u66f4\u654f\u611f\uff1b\u91c7\u6837\u65b9\u6cd5\u66f4\u5177\u5168\u5c40\u6027\uff0c\u4f46\u8ba1\u7b97\u91cf\u5927\u3001\u9700\u8981\u6709\u6548\u7684\u5019\u9009\u7b5b\u9009\u7b56\u7565\u3002<\/p>\n\n\n\n<p id=\"3UN2SISL\"><strong>\u65e0\u5f15\u5bfc\u7ebf\u7684\u5de6\u8f6c\u9700\u8981\u8003\u8651\u54ea\u4e9b\u5185\u5bb9\uff1f<\/strong><\/p>\n\n\n\n<p id=\"3UN2SISM\">\u5728\u65e0\u5f15\u5bfc\u7ebf\u7684\u5de6\u8f6c\u4e2d\uff0c\u8f68\u8ff9\u7684\u57fa\u51c6\u5750\u6807\u7cfb\u975e\u5e38\u91cd\u8981\u3002\u5f88\u591a\u7cfb\u7edf\u91c7\u7528Frenet\u5750\u6807\u7cfb\u5728\u5df2\u6709\u53c2\u8003\u8def\u5f84\u4e0a\u505a\u6a2a\u5411\u8f68\u8ff9\u4f18\u5316\uff0c\u4f46\u5f53\u53c2\u8003\u8def\u5f84\u4e0d\u5b58\u5728\u65f6\uff0c\u5fc5\u987b\u5148\u6784\u9020\u4e00\u4e2a\u201c\u4e34\u65f6\u53c2\u8003\u7ebf\u201d\u3002\u8fd9\u4e2a\u53c2\u8003\u7ebf\u901a\u5e38\u57fa\u4e8e\u9053\u8def\u51e0\u4f55\uff08\u4e24\u4fa7\u9053\u8def\u4e2d\u95f4\u8fde\u7ebf\u6216\u66f2\u7ebf\u62df\u5408\uff09\u548c\u671f\u671b\u8f6c\u5f2f\u5f27\u7ebf\uff08\u4f8b\u5982\u5706\u5f27\u6216clothoid\u66f2\u7ebf\uff09\u751f\u6210\u3002\u751f\u6210\u53c2\u8003\u7ebf\u65f6\u8981\u8003\u8651\u8f6c\u5f2f\u534a\u5f84\u548c\u8f66\u8f86\u7684\u6700\u5c0f\u8f6c\u5f2f\u5708\uff0c\u540c\u65f6\u9884\u7559\u7ed9\u884c\u4eba\u3001\u81ea\u884c\u8f66\u548c\u5176\u4ed6\u8f66\u8f86\u7684\u5b89\u5168\u7a7a\u95f4\u3002\u968f\u540e\u5728\u8be5\u53c2\u8003\u7ebf\u7684Frenet\u5750\u6807\u4e0b\u4f18\u5316\u901f\u5ea6\u66f2\u7ebf\u4e0e\u6a2a\u5411\u504f\u79fb\uff0c\u6700\u7ec8\u6620\u5c04\u56de\u5168\u5c40\u5750\u6807\u7cfb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0918%2Fffbf6de5j00t2rf9u000td000hs008bm.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3UN2SISO\">\u5bf9\u4e8e\u6c7d\u8f66\u6765\u8bf4\uff0c\u5b89\u5168\u662f\u9996\u8981\u7ea6\u675f\uff0c\u5728\u8f68\u8ff9\u4f18\u5316\u91cc\u5e38\u901a\u8fc7\u786c\u7ea6\u675f\u6216\u9ad8\u60e9\u7f5a\u9879\u6765\u4f53\u73b0\u3002\u786c\u7ea6\u675f\u76f4\u63a5\u7981\u6b62\u8f68\u8ff9\u8fdb\u5165\u78b0\u649e\u96c6\u5408\uff0c\u800c\u9ad8\u60e9\u7f5a\u9879\u4f1a\u5728\u76ee\u6807\u51fd\u6570\u4e2d\u5f3a\u70c8\u60e9\u7f5a\u4e0e\u5176\u4ed6\u7269\u4f53\u95f4\u8ddd\u8fc7\u5c0f\u7684\u60c5\u51b5\u3002\u5728\u5b9e\u9645\u90e8\u7f72\u4e2d\uff0c\u66f4\u6709\u4e00\u79cd\u5e38\u7528\u7b56\u7565\u662f\u5148\u7528\u4fdd\u5b88\u7684\u201c\u5b89\u5168\u5305\u201d\uff08safety envelope\uff09\u9759\u6001\u8fc7\u6ee4\u6389\u90a3\u4e9b\u660e\u663e\u5371\u9669\u7684\u5019\u9009\u8f68\u8ff9\uff0c\u7136\u540e\u5728\u5269\u4f59\u7a7a\u95f4\u91cc\u505a\u66f4\u7ec6\u7c92\u5ea6\u7684\u4f18\u5316\u3002\u5b89\u5168\u5305\u7684\u5927\u5c0f\u8981\u4e0e\u9884\u6d4b\u4e0d\u786e\u5b9a\u6027\u76f8\u5339\u914d\uff1b\u5f53\u9884\u6d4b\u5f88\u4e0d\u786e\u5b9a\u65f6\uff0c\u5b89\u5168\u5305\u653e\u5927\uff0c\u4ece\u800c\u4f7f\u51b3\u7b56\u66f4\u52a0\u4fdd\u5b88\u3002<\/p>\n\n\n\n<p id=\"3UN2SISP\">\u65f6\u95f4\u5c3a\u5ea6\u7684\u9009\u62e9\u4e5f\u5f88\u5173\u952e\u3002\u8f66\u9053\u4fdd\u6301\u6216\u9ad8\u901f\u5300\u901f\u884c\u9a76\u7684\u8f68\u8ff9\u53ef\u4ee5\u4ee5\u8f83\u957f\u65f6\u95f4\u7a97\u53e3\u89c4\u5212\uff08\u4f8b\u5982510\u79d2\uff09\uff0c\u4f46\u4ea4\u53c9\u53e3\u5de6\u8f6c\u8fd9\u79cd\u5373\u65f6\u6027\u5f3a\u3001\u4ea4\u4e92\u9891\u7e41\u7684\u573a\u666f\uff0c\u77ed\u671f\u7684\u9ad8\u9891\u8f68\u8ff9\u66f4\u65b0\u66f4\u91cd\u8981\u3002\u5178\u578b\u505a\u6cd5\u662f\u91c7\u7528\u5206\u5c42\u65f6\u5e8f\uff0c\u884c\u4e3a\u5c42\u51b3\u5b9a\u5728\u672a\u6765\u51e0\u79d2\u5185\u7684\u7b56\u7565\uff08\u7b49\u5f85\u6216\u8fdb\u5165\uff09\uff0c\u8f68\u8ff9\u5c42\u5728\u66f4\u77ed\u7684\u65f6\u95f4\u7a97\u53e3\uff0813\u79d2\uff09\u751f\u6210\u9ad8\u5206\u8fa8\u7387\u8f68\u8ff9\u4f9b\u63a7\u5236\u5668\u8ddf\u968f\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u7cfb\u7edf\u5bf9\u9884\u6d4b\u7ed3\u679c\u6301\u7eed\u505a\u5728\u7ebf\u4fee\u6b63\uff0c\u8f68\u8ff9\u53ef\u4ee5\u5728\u6267\u884c\u8fc7\u7a0b\u4e2d\u88ab\u6253\u65ad\u6216\u91cd\u89c4\u5212\uff0c\u4ee5\u5e94\u5bf9\u7a81\u53d1\u53d8\u52a8\u3002<\/p>\n\n\n\n<p id=\"3UN2SISQ\">\u5728\u65e0\u5f15\u5bfc\u7ebf\u7684\u5de6\u8f6c\u573a\u666f\u4e0b\u8fdb\u884c\u5b9e\u9645\u51b3\u7b56\u65f6\uff0c\u4e00\u4e2a\u5e38\u89c1\u4e14\u76f4\u89c2\u7684\u91cf\u5ea6\u662f\u201c\u53ef\u63a5\u53d7\u7684\u95f4\u9699\uff08acceptable gap\uff09\u201d\u6216\u201c\u65f6\u95f4\u95f4\u9699\uff08time gap\uff09\u201d\u3002\u8fd9\u4e2a\u6307\u6807\u8861\u91cf\u5f53\u524d\u5bf9\u5411\u6216\u6a2a\u5411\u6765\u8f66\u4e0e\u6211\u65b9\u8f66\u8f86\u4e4b\u95f4\u7684\u65f6\u95f4\u95f4\u9694\u662f\u5426\u8db3\u591f\u5b89\u5168\u5730\u5b8c\u6210\u5de6\u8f6c\u3002\u5de5\u7a0b\u4e0a\u901a\u5e38\u4f1a\u628a\u53ef\u63a5\u53d7\u95f4\u9699\u8f6c\u6362\u6210\u901f\u5ea6\u4e0e\u52a0\u901f\u5ea6\u8fb9\u754c\uff1a\u5982\u679c\u5bf9\u5411\u8f66\u9700t\u79d2\u624d\u80fd\u5230\u4ea4\u53c9\u70b9\uff0c\u800c\u6211\u65b9\u5b8c\u6210\u5de6\u8f6c\u9700\u03c4\u79d2\uff0c\u5219\u7cfb\u7edf\u5224\u65ad\u53ef\u63a5\u53d7\u5f53t-\u03c4&gt;\u5b89\u5168\u88d5\u5ea6\u3002\u5b89\u5168\u88d5\u5ea6\u5e76\u975e\u5e38\u6570\uff0c\u5b83\u53d7\u8def\u51b5\u3001\u80fd\u89c1\u5ea6\u3001\u672c\u8f66\u52a0\u901f\u80fd\u529b\u3001\u5bf9\u65b9\u8f66\u8f86\u52a0\u901f\u884c\u4e3a\u9884\u6d4b\u548c\u6cd5\u5f8b\u8981\u6c42\u5f71\u54cd\u3002\u5728\u62e5\u5835\u4e14\u4f4e\u901f\u7684\u60c5\u5f62\u4e0b\uff0c\u5141\u8bb8\u7684\u65f6\u95f4\u5dee\u4f1a\u5c0f\u4e00\u4e9b\uff1b\u5728\u9ad8\u901f\u6765\u8f66\u6216\u80fd\u89c1\u5ea6\u5dee\u65f6\uff0c\u7cfb\u7edf\u4f1a\u663e\u8457\u63d0\u9ad8\u5b89\u5168\u88d5\u5ea6\u3002<\/p>\n\n\n\n<p id=\"3UN2SISR\">\u4eba\u8f66\u4ea4\u4e92\u548c\u975e\u8bed\u8a00\u6c9f\u901a\u5728\u65e0\u5f15\u5bfc\u7ebf\u5de6\u8f6c\u65f6\u5bf9\u4eba\u7c7b\u53f8\u673a\u4e5f\u5c24\u4e3a\u91cd\u8981\u3002\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7f3a\u5c11\u4eba\u7c7b\u7684\u773c\u795e\u3001\u624b\u52bf\u6216\u70b9\u5934\uff0c\u56e0\u6b64\u9700\u8981\u901a\u8fc7\u5176\u5b83\u624b\u6bb5\u4e0e\u5468\u56f4\u4ea4\u901a\u53c2\u4e0e\u8005\u6c9f\u901a\u5176\u610f\u56fe\u3002\u6700\u57fa\u672c\u7684\u65b9\u5f0f\u662f\u6807\u51c6\u5316\u4fe1\u53f7\uff0c\u5f00\u542f\u8f6c\u5411\u706f\u662f\u6700\u76f4\u63a5\u7684\u610f\u56fe\u8868\u8fbe\uff0c\u5fc5\u8981\u65f6\u8f66\u8f86\u53ef\u4ee5\u505a\u8f7b\u5fae\u7684\u524d\u63a2\uff08slow forward creep\uff09\u4ee5\u663e\u793a\u8fdb\u5165\u610f\u613f\uff0c\u540c\u65f6\u5728\u63a7\u5236\u4e0a\u4fdd\u8bc1\u968f\u65f6\u80fd\u591f\u7d27\u6025\u505c\u8f66\u3002\u67d0\u4e9b\u7814\u7a76\u4e0e\u5e94\u7528\u4e2d\u4e5f\u5f15\u5165\u5916\u663e\u4fe1\u53f7\u706f\u6216\u53ef\u89c6\u5316\u5c4f\u5e55\u5411\u884c\u4eba\u548c\u9a7e\u9a76\u5458\u4f20\u8fbe\u201c\u6211\u8ba9\u884c\u201d\u6216\u201c\u6211\u5c06\u8f6c\u5f2f\u201d\u7684\u4fe1\u606f\uff0c\u4f46\u8fd9\u4e9b\u4ecd\u5c5e\u4e8e\u5b9e\u9a8c\u6027\u624b\u6bb5\uff0c\u666e\u53ca\u5ea6\u4e0e\u6cd5\u5f8b\u8ba4\u53ef\u5ea6\u6709\u9650\u3002\u56e0\u6b64\uff0c\u4fdd\u5b88\u4e14\u6e05\u6670\u7684\u4fe1\u53f7\u7b56\u7565\u4e0e\u53ca\u65f6\u7684\u59ff\u6001\u8868\u8fbe\uff08\u4f8b\u5982\u7a33\u5b9a\u4e14\u53ef\u9884\u671f\u7684\u51cf\u901f\u66f2\u7ebf\uff09\u662f\u76ee\u524d\u5b9e\u7528\u6027\u6700\u9ad8\u7684\u201c\u6c9f\u901a\u201d\u65b9\u5f0f\u3002<\/p>\n\n\n\n<p id=\"3UN2SISS\">\u8c08\u5230\u6a21\u578b\u548c\u7b97\u6cd5\u7ec6\u8282\uff0c\u4e0d\u53ef\u5ffd\u89c6\u7684\u662f\u52a8\u529b\u5b66\u4e0e\u8f6e\u80ce\u6a21\u578b\u7684\u9650\u5236\u3002\u5bf9\u4e8e\u4e58\u7528\u8f66\uff0c\u5e38\u7528\u7684\u8fd0\u52a8\u5b66\u5355\u8f68\u6a21\u578b\uff08kinematic bicycle model\uff09\u548c\u8f83\u4e3a\u7cbe\u7ec6\u7684\u52a8\u529b\u5b66\u6a21\u578b\u90fd\u53ef\u4ee5\u7528\u6765\u4fdd\u8bc1\u8f68\u8ff9\u53ef\u6267\u884c\u6027\u3002\u8f68\u8ff9\u751f\u6210\u65f6\u4f1a\u7ea6\u675f\u6700\u5927\u6a2a\u5411\u52a0\u901f\u5ea6\u3001\u6700\u5927\u7eb5\u5411\u52a0\u901f\u5ea6\u4e0e\u6700\u5927\u8f6c\u5411\u89d2\u901f\u5ea6\uff0c\u907f\u514d\u51fa\u73b0\u8f66\u8f86\u65e0\u6cd5\u8ddf\u968f\u7684\u8f68\u8ff9\u3002\u4e58\u5ba2\u8212\u9002\u6027\u4e5f\u4f1a\u88ab\u8f6c\u5316\u4e3a\u7ea6\u675f\u6216\u4ee3\u4ef7\u9879\uff0c\u52a0\u901f\u5ea6\u3001\u52a0\u52a0\u901f\u5ea6\uff08jerk\uff09\u548c\u6a2a\u5411\u52a0\u901f\u5ea6\u7684\u7a81\u53d8\u90fd\u4f1a\u88ab\u60e9\u7f5a\uff0c\u4ece\u800c\u4fdd\u8bc1\u5e73\u6ed1\u7684\u8f6c\u5f2f\u52a8\u4f5c\u3002<\/p>\n\n\n\n<p id=\"3UN2SIST\">\u5728\u9ad8\u5ea6\u4e0d\u786e\u5b9a\u6216\u5bf9\u624b\u884c\u4e3a\u96be\u4ee5\u9884\u6d4b\u65f6\uff0c\u6982\u7387\u4e0e\u9c81\u68d2\u63a7\u5236\u65b9\u6cd5\u53d8\u5f97\u5c24\u4e3a\u91cd\u8981\u3002\u57fa\u4e8ePOMDP\uff08\u90e8\u5206\u53ef\u89c2\u6d4b\u9a6c\u5c14\u79d1\u592b\u51b3\u7b56\u8fc7\u7a0b\uff09\u7684\u6846\u67b6\u80fd\u591f\u5728\u89c2\u6d4b\u4e0d\u5b8c\u5168\u4e0e\u884c\u4e3a\u4e0d\u786e\u5b9a\u7684\u60c5\u51b5\u4e0b\u7ed9\u51fa\u6700\u4f18\u7b56\u7565\uff0c\u4f46\u5176\u8ba1\u7b97\u590d\u6742\u5ea6\u901a\u5e38\u5f88\u9ad8\uff0c\u5b9e\u9645\u60c5\u51b5\u4e0b\uff0c\u7cfb\u7edf\u4f1a\u91c7\u7528\u8fd1\u4f3c\u65b9\u6cd5\u6216\u53ea\u5728\u5173\u952e\u65f6\u523b\u4f7f\u7528\u3002\u53e6\u4e00\u6761\u5de5\u7a0b\u5316\u8def\u5f84\u662f\u4f7f\u7528\u57fa\u4e8e\u98ce\u9669\u7684\u4f18\u5316\uff0c\u5373\u5b9a\u4e49\u4e00\u4e2a\u98ce\u9669\u51fd\u6570\uff0c\u8be5\u51fd\u6570\u8861\u91cf\u5728\u8f68\u8ff9\u6267\u884c\u671f\u95f4\u51fa\u73b0\u78b0\u649e\u6216\u8fd1\u78b0\u7684\u6982\u7387\uff0c\u5e76\u5728\u4f18\u5316\u4e2d\u628a\u98ce\u9669\u63a7\u5236\u5728\u53ef\u63a5\u53d7\u9608\u503c\u5185\u3002\u8fd9\u6837\uff0c\u51b3\u7b56\u4e0d\u4ec5\u8003\u8651\u671f\u671b\u6210\u672c\uff0c\u4e5f\u628a\u5c3e\u90e8\u98ce\u9669\uff08\u4f4e\u6982\u7387\u4f46\u9ad8\u4ee3\u4ef7\u7684\u4e8b\u4ef6\uff09\u7eb3\u5165\u8003\u8651\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0918%2F093ea203j00t2rf9u000md000hs0074m.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3UN2SISV\">\u6570\u636e\u9a71\u52a8\u7684\u65b9\u6cd5\u6b63\u5728\u5feb\u901f\u53d1\u5c55\uff0c\u5c24\u5176\u662f\u7528\u6765\u5b66\u4e60\u201c\u4eba\u7c7b\u53ef\u63a5\u53d7\u884c\u4e3a\u201d\u7684\u6a21\u578b\u3002\u901a\u8fc7\u5bf9\u5927\u91cf\u4ea4\u901a\u573a\u666f\u7684\u6570\u636e\u5b66\u4e60\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u53ef\u4ee5\u5b66\u5230\u4e00\u4e9b\u573a\u666f\u7279\u6709\u7684\u9690\u542b\u89c4\u5219\uff08\u4f8b\u5982\u67d0\u57ce\u5e02\u53f8\u673a\u66f4\u613f\u610f\u5728\u7279\u5b9a\u60c5\u51b5\u4e0b\u793c\u8ba9\uff09\uff0c\u8fdb\u800c\u751f\u6210\u66f4\u201c\u793e\u4f1a\u5316\u201d\u7684\u8f68\u8ff9\u3002\u7136\u800c\uff0c\u8fd9\u7c7b\u6a21\u578b\u7684\u53ef\u89e3\u91ca\u6027\u548c\u53ef\u9a8c\u8bc1\u6027\u4ecd\u662f\u6311\u6218\u3002\u5728\u5b89\u5168\u5173\u952e\u7684\u573a\u666f\u91cc\uff0c\u7eaf\u5b66\u4e60\u65b9\u6cd5\u901a\u5e38\u9700\u8981\u4e0e\u89c4\u5219\/\u7269\u7406\u6a21\u578b\u7ed3\u5408\uff0c\u4ee5\u4fbf\u5728\u6781\u7aef\u60c5\u5f62\u4e0b\u4fdd\u6301\u53ef\u9884\u6d4b\u4e0e\u53ef\u63a7\u3002<\/p>\n\n\n\n<p id=\"3UN2SIT0\">\u4eff\u771f\u4e0e\u9a8c\u8bc1\u662f\u786e\u4fdd\u7b56\u7565\u53ef\u884c\u7684\u6700\u540e\u4e00\u9053\u9632\u7ebf\u3002\u5728\u5b9e\u9a8c\u5ba4\u4e2d\uff0c\u7cfb\u7edf\u4f1a\u5728\u5927\u89c4\u6a21\u4eff\u771f\u73af\u5883\u4e2d\u66b4\u9732\u4e8e\u6210\u5343\u4e0a\u4e07\u79cd\u65e0\u5f15\u5bfc\u7ebf\u5de6\u8f6c\u60c5\u5f62\uff0c\u68c0\u9a8c\u5728\u5404\u79cd\u5929\u6c14\u3001\u80fd\u89c1\u5ea6\u3001\u9053\u8def\u51e0\u4f55\u548c\u5176\u4ed6\u8f66\u8f86\u7b56\u7565\u4e0b\u7684\u8868\u73b0\u3002\u4eff\u771f\u4e2d\u9700\u8981\u8986\u76d6\u7f55\u89c1\u4f46\u5371\u9669\u7684\u89d2\u843d\u6848\u4f8b\uff0c\u5982\u4e00\u8f86\u6469\u6258\u8f66\u7a81\u7136\u4ece\u8def\u8fb9\u7a7f\u51fa\u6216\u5bf9\u5411\u8f66\u8f86\u6025\u5239\u7b49\u573a\u666f\u4e00\u5b9a\u9700\u8981\u6db5\u76d6\u3002\u771f\u5b9e\u9053\u8def\u6d4b\u8bd5\u5219\u9700\u8981\u5faa\u5e8f\u6e10\u8fdb\uff0c\u4ece\u5c01\u95ed\u573a\u5730\u5230\u4f4e\u6d41\u91cf\u8def\u6bb5\u518d\u5230\u590d\u6742\u57ce\u5e02\u8def\u53e3\uff0c\u9010\u6b65\u653e\u5bbd\u5b89\u5168\u5458\u5e72\u9884\u3002\u8fd9\u79cd\u9010\u6b65\u9a8c\u8bc1\u4e0d\u4ec5\u662f\u6280\u672f\u8981\u6c42\uff0c\u4e5f\u662f\u5408\u89c4\u4e0e\u4f26\u7406\u7684\u5fc5\u987b\u3002<\/p>\n\n\n\n<p id=\"3UN2SIT1\">\u5de5\u7a0b\u5b9e\u8df5\u4e2d\u8fd8\u6709\u8bb8\u591a\u7ec6\u8282\u4f1a\u5f71\u54cd\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5728\u65e0\u5f15\u5bfc\u7ebf\u7684\u5de6\u8f6c\u573a\u666f\u4e0b\u7684\u6700\u7ec8\u8868\u73b0\u3002\u4f20\u611f\u5668\u7684\u5b89\u88c5\u4f4d\u7f6e\u548c\u89c6\u89d2\u51b3\u5b9a\u4e86\u5bf9\u4ea4\u53c9\u53e3\u7684\u53ef\u89c6\u8303\u56f4\uff0c\u6444\u50cf\u5934\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7684\u540c\u6b65\u4e0e\u65f6\u95f4\u6233\u5bf9\u591a\u4f20\u611f\u5668\u878d\u5408\u81f3\u5173\u91cd\u8981\u3002\u51b3\u7b56\u9891\u7387\u8981\u4e0e\u63a7\u5236\u5668\u9891\u7387\u5339\u914d\uff0c\u8fc7\u4f4e\u4f1a\u5728\u9ad8\u5ea6\u52a8\u6001\u573a\u666f\u91cc\u5bfc\u81f4\u6ede\u540e\uff0c\u8fc7\u9ad8\u53c8\u4f1a\u5f15\u53d1\u8ba1\u7b97\u8d44\u6e90\u74f6\u9888\u3002\u7cfb\u7edf\u8fd8\u9700\u8981\u5bf9\u6781\u7aef\u60c5\u51b5\u8bbe\u8ba1\u515c\u5e95\u7b56\u7565\uff0c\u4f8b\u5982\u5f53\u4f20\u611f\u5668\u6570\u636e\u4e0d\u53ef\u4fe1\u6216\u7a81\u7136\u51fa\u73b0\u4f20\u611f\u5668\u6545\u969c\u65f6\uff0c\u5e94\u7acb\u5373\u8fdb\u5165\u4fdd\u5b88\u6a21\u5f0f\u2014\u2014\u5982\u505c\u5728\u5b89\u5168\u4f4d\u7f6e\u6216\u7f13\u6162\u9000\u51fa\u4ea4\u53c9\u53e3\uff0c\u540c\u65f6\u53d1\u51fa\u5371\u9669\u4fe1\u53f7\u3002<\/p>\n\n\n\n<p id=\"3UN2SIT3\"><strong>\u6700\u540e\u7684\u8bdd<\/strong><\/p>\n\n\n\n<p id=\"3UN2SIT4\">\u603b\u7684\u6765\u8bf4\uff0c\u65e0\u5f15\u5bfc\u7ebf\u7684\u65e0\u4fdd\u62a4\u5de6\u8f6c\u4e0d\u662f\u5355\u4e00\u7b97\u6cd5\u80fd\u89e3\u51b3\u7684\u95ee\u9898\uff0c\u800c\u662f\u4e00\u4e2a\u7cfb\u7edf\u7ea7\u6311\u6218\u3002\u8981\u505a\u5230\u65e2\u5b89\u5168\u53c8\u9ad8\u6548\uff0c\u8fd9\u5c31\u9700\u8981\u4ece\u611f\u77e5\u5230\u63a7\u5236\u7684\u7aef\u5230\u7aef\u534f\u540c\u8bbe\u8ba1\uff0c\u611f\u77e5\u63d0\u4f9b\u53ef\u9760\u7684\u4e16\u754c\u6a21\u578b\uff0c\u9884\u6d4b\u63ed\u793a\u591a\u6a21\u6001\u7684\u672a\u6765\uff0c\u51b3\u7b56\u5728\u89c4\u5219\u4e0e\u98ce\u9669\u4e4b\u95f4\u627e\u5230\u5e73\u8861\uff0c\u8f68\u8ff9\u751f\u6210\u5728\u52a8\u529b\u5b66\u3001\u8212\u9002\u6027\u4e0e\u5b89\u5168\u4e4b\u95f4\u6c42\u89e3\u6700\u4f18\u89e3\u3002\u518d\u52a0\u4e0a\u826f\u597d\u7684\u5de5\u7a0b\u5b9e\u73b0\u3001\u5168\u9762\u7684\u4eff\u771f\u9a8c\u8bc1\u4e0e\u8c28\u614e\u7684\u8def\u6d4b\u63a8\u8fdb\uff0c\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u624d\u80fd\u5728\u8fd9\u4e2a\u770b\u4f3c\u7b80\u5355\u4f46\u5145\u6ee1\u53d8\u6570\u7684\u573a\u666f\u91cc\uff0c\u50cf\u4e00\u4e2a\u65e2\u8c28\u614e\u53c8\u4f53\u8d34\u7684\u4eba\u7c7b\u53f8\u673a\u90a3\u6837\u5b8c\u6210\u5de6\u8f6c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.163.co [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[27,1],"tags":[],"class_list":["post-33125","post","type-post","status-publish","format-standard","hentry","category-industry-trends","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33125"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=33125"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33125\/revisions"}],"predecessor-version":[{"id":33126,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33125\/revisions\/33126"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=33125"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=33125"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=33125"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}