1.3.4杞ㄨ抗瑙???杞ㄨ抗瑙??????哄?ㄤ汉杩??ㄥ???瑙c??姝hВ??瀹???宸ョ?搴?????????哄?ㄤ汉??杞ㄨ抗?圭?瑰???跺??ㄥ?哄??锛?瀵规?哄?ㄤ汉杩?琛???????杞ㄨ抗瑙??????哄?ㄤ汉杩??ㄦ?у?剁???虹?????姝わ?杞ㄨ抗瑙???绠?娉???濂藉???存?ュ奖??浜??哄?ㄤ汉???ㄥ??瀛︽?ц??44_45]锛?杞ㄨ抗瑙????ㄩ??绾挎?х郴缁????у?惰?璁′腑????涓????夸唬??浣???46_47]??涓??归???杞ㄨ抗瑙???缁?????互浣?涓哄??棣?椤逛???棣??у?朵?璧锋????涓よ???卞害?у?讹?浠????峰??村ソ?拌??ㄦ?у?舵?ц?斤??︿??归?????浼?杞ㄨ抗瑙???涓???浼??у?跺?锋??涓??存?э????╂??浼???杞ㄨ抗瑙???缁???锛???互瀹??版弧瓒冲??绉?绾︽??骞跺?锋???瑰?浼?????????杩??ㄦ?у?躲???ㄨ建杩硅????锋?″?芥?扮??寮???涓?搴??ㄤ?锛?B-Spline(BasicSpline)[48_49]??澶?椤瑰??锋?″?芥?颁互??PH(PythagoreanHodograph??绔??烘??绾匡?[5(5]?锋?″?芥?扮?琚?箍娉???绾充?搴????渚?濡?锛?绠?????涓?娆℃?锋?″?芥?板???剁?娉?绠????????????ф?уソ??琚?箍娉?搴??ㄥ?ㄩ???ㄦ?у?跺?ㄤ???浣?????ㄥぇ澶??版???典?锛????ㄤ?娆℃?锋?″?芥?拌?琛?杞ㄨ抗瑙???寰??扮??????搴︽?茬嚎涓?杩?缁???辨?浜х??????璁轰???绌峰ぇ????????搴︼?Jerk)瀵逛?绯荤????翠??ц?藉?????ㄤ欢?芥??杈?澶у奖????瀵逛??版??????绉??锋?″?芥?帮??藉??澶?瀛﹁????浜?璁稿??㈢储涓???绌讹?渚?濡?Gasparetto[52^?ㄤ?浜?娆?-Spline,Liu[53]???ㄤ?涓?娆?-Spline???朵腑楂?娆″?椤瑰?B-?锋?″?芥?拌建杩硅???搴??ㄦ??涓哄箍娉???渚?濡?锛???浼???绛?[54]????涓???绛?[55]?????ㄤ?娆℃?锋?″?芥?板??哄?ㄤ汉杩?琛?杞ㄨ抗瑙???????浼???绛??ㄧ??″?绌洪?村??瀵规?哄?ㄤ汉??杩?缁??茬嚎璺??杩?琛?瑙???锛????ㄤ?娆″?椤瑰?瀵规?茬嚎????瑙?澶??ㄥ?宠??绌洪?村??杩?琛?瑙???锛???涓???绛????ㄤ?娆″?椤瑰?瀵规?哄?ㄤ汉杩?琛?杞ㄨ抗瑙???,?规?????杩??ㄦ?瑰??????稿???杈圭???′欢锛???娈佃??ㄦ?讹?璧峰??归??搴﹀??????搴︿????涓洪?讹?瀵逛?澶?娈电??杩?缁?????瀵瑰?惰??硷?浣挎?哄?ㄤ汉浠ヤ?瀹???搴﹀??????搴﹂??杩?涓??寸?癸?浠ヤ娇?ㄤ?杩?璐?????????????ldquo;楂???骞惰??宸ヤ??烘?????????璁捐?涓?瀹???rdquo;锛???涓虹?杈??伴?惧??存??浜??芥?般??琛ㄦ?笺???剧??????瀹规??娉??剧ず锛?????瑕?????互?ㄧ?缁?涓??ユ?剧?稿?虫??绔?锛??????辨捣澶╃簿宸ユ?寸????琛ㄦ??绔????ヨ???缁?浠?渚?瀛︿?????锛?杞?浇璇锋敞??锛?