迁移到dhxdl

2026-08-24 17:26:17 +08:00
commit 5d5507bd28
29 changed files with 10894 additions and 0 deletions
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+% Overall three-stage framework: offline field prior -> parallel coarse search
+% -> joint numerical optimization.  Laid out to fit one IEEE column (252 pt)
+% at full size, so no scaling is applied when included.  Section numbers are
+% plain text so the standalone figure compiles independently of main.tex.
+\documentclass[border=1pt]{standalone}
+\input{figstyle}
+\begin{document}
+\begin{tikzpicture}[
+    blk/.style={draw=sitec, line width=0.5pt, rounded corners=1.2pt,
+                align=center, inner sep=2.2pt, font=\tiny,
+                text width=23mm, minimum height=5.4mm},
+    io/.style={blk, fill=fillc, text width=20mm},
+    offb/.style={blk, fill=centc!10, draw=centc!70},
+    parkb/.style={blk, fill=parkc!10, draw=parkc!70, text width=21mm},
+    exitb/.style={blk, fill=exitc!10, draw=exitc!70, text width=21mm},
+    optb/.style={blk, fill=corrc!10, draw=corrc!70, text width=52mm},
+    stage/.style={draw=sitec!45, line width=0.4pt,
+                  dash pattern=on 1.4pt off 1.2pt, rounded corners=2pt},
+    lbl/.style={font=\tiny\itshape, sitec},
+    ar/.style={->, line width=0.45pt, sitec,
+               >={Latex[length=1.3mm,width=1.0mm]}},
+    note/.style={font=\tiny, sitec, align=left},
+  ]
+
+  % =====================================================================
+  % Stage 1 -- offline construction of the guidance-field prior
+  % =====================================================================
+  \node[io]   (bnd)  at (0,0)      {site boundary point cloud};
+  \node[offb] (skel) at (0,-0.98)  {EVG skeleton $+$ QP smoothing
+                                    $\rightarrow \varLambda_\text{center}$};
+  \node[offb] (guid) at (0,-1.96)  {normal offset $\pm W/2$
+                                    $\rightarrow \varLambda_\text{park},
+                                     \varLambda_\text{exit}$};
+  \node[offb] (fld)  at (0,-3.05)  {kernel superposition
+                                    $\rightarrow U_\text{park}, U_\text{exit}$
+                                    (mirrored about $\varLambda_\text{center}$)};
+
+  \foreach \a/\b in {bnd/skel, skel/guid, guid/fld}{ \draw[ar] (\a) -- (\b); }
+
+  \node[stage, fit=(bnd)(fld), inner sep=3pt] (s1) {};
+  \node[lbl, above=0.8pt of s1.north] {Stage 1: offline (Sec.~III)};
+
+  % =====================================================================
+  % Stage 2 -- two coarse paths searched independently and in parallel
+  % =====================================================================
+  \node[parkb] (hap) at (3.72,-0.82) {field-adaptive Hybrid A*
+                                      on $U_\text{park}$};
+  \node[exitb] (hax) at (3.72,-2.24) {field-adaptive Hybrid A*
+                                      on $U_\text{exit}$};
+
+  \node[stage, fit=(hap)(hax), inner sep=3pt] (s2) {};
+  \node[lbl, above=0.8pt of s2.north, align=center]
+       {Stage 2: online, parallel (Sec.~IV)};
+
+  \draw[ar] (fld.east) -- ++(0.22,0) |- (hap.west);
+  \draw[ar] (fld.east) -- ++(0.22,0) |- (hax.west);
+
+  % =====================================================================
+  % Stage 3 -- joint optimization of the two coarse paths
+  % =====================================================================
+  \node[optb] (corr) at (1.86,-4.35)
+       {convex corridors $\mathcal{P}_k$ from the perception snapshot
+        (ellipsoid proxy, inset by $\Delta_\text{cut}$)};
+  \node[optb] (nlp)  at (1.86,-5.45)
+       {joint NLP:
+        $\mathbf{z}=[\mathbf{z}_\text{park};\mathbf{z}_\text{exit}]$,
+        interaction cost $J_\varPsi$, solved by Ipopt};
+  \node[io, text width=28mm] (out) at (1.86,-6.45)
+       {$\varGamma_\text{park}^\star,\ \varGamma_\text{exit}^\star$};
+
+  \node[stage, fit=(corr)(out), inner sep=3pt] (s3) {};
+  \node[lbl, below=0.8pt of s3.south]
+       {Stage 3: joint optimization (Sec.~V)};
+
+  \draw[ar] (hap.east) -- ++(0.20,0) |- ([yshift=1.1mm]corr.east);
+  \draw[ar] (hax.south) -- ++(0,-0.30) -| ([xshift=8mm]corr.north);
+  \draw[ar] (corr) -- (nlp);
+  \draw[ar] (nlp)  -- (out);
+
+  % ---------- what each stage fixes ------------------------------------
+  \node[note] at (0.30,-3.72) {\textbf{fixes} topology};
+  \node[note] at (3.30,-3.00) {\textbf{fixes} $N,\{\delta_j\}$};
+  \node[note] at (-0.62,-5.45) {\textbf{fixes}\\shape,\\$\kappa$ cont.};
+
+  % ---------- rebuild trigger -------------------------------------------
+  \draw[ar, densely dotted, centc, >={Latex[length=1.3mm,width=1.0mm]}]
+        (out.west) -- ++(-0.42,0) |- (skel.west);
+  \node[font=\tiny, centc, align=center] at (-1.32,-2.55)
+       {rebuild only\\on boundary\\change};
+
+\end{tikzpicture}
+\end{document}