{"id":8288,"date":"2025-12-04T14:43:26","date_gmt":"2025-12-04T14:43:26","guid":{"rendered":"https:\/\/mehdisalimi.ir\/?p=8288"},"modified":"2025-12-06T21:19:19","modified_gmt":"2025-12-06T21:19:19","slug":"%da%a9%d9%86%d8%aa%d8%b1%d9%84-%d9%88-%d9%87%d8%af%d8%a7%db%8c%d8%aa-%d8%ae%d9%88%d8%af%da%a9%d8%a7%d8%b1-%d9%85%d9%88%d8%b4%da%a9%d9%87%d8%a7%db%8c-%d8%a8%d8%a7%d9%84%d8%b3%d8%aa%db%8c%da%a9","status":"publish","type":"post","link":"https:\/\/mehdisalimi.ir\/?p=8288","title":{"rendered":"\u06a9\u0646\u062a\u0631\u0644 \u0648 \u0647\u062f\u0627\u06cc\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u0628\u0627 \u0647\u0648\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc \u0648 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646"},"content":{"rendered":"

\u0686\u06a9\u06cc\u062f\u0647<\/h2>\n

\u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u06cc\u06a9 \u0686\u0627\u0631\u0686\u0648\u0628 \u062c\u0627\u0645\u0639 \u0628\u0631\u0627\u06cc \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u00a0\u0634\u0634 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc (6-DOF)<\/strong>\u00a0\u0648 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u0628\u0627 \u0633\u0631\u0639\u062a\u200c\u0647\u0627\u06cc\u00a0\u0645\u0627\u0641\u0648\u0642 \u0635\u0648\u062a (Hypersonic)<\/strong>\u00a0\u0627\u0631\u0627\u0626\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f. \u062f\u0631 \u0627\u06cc\u0646 \u067e\u0698\u0648\u0647\u0634\u060c \u0645\u062f\u0644\u200c\u0647\u0627\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc\u060c \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc\u060c \u062d\u0631\u0627\u0631\u062a\u06cc \u0648 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u200c\u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u067e\u06cc\u0634\u0631\u0641\u062a\u0647 \u0634\u0627\u0645\u0644\u00a0\u0634\u0628\u06a9\u0647\u200c\u0647\u0627\u06cc \u0639\u0635\u0628\u06cc \u0639\u0645\u06cc\u0642 (DNN)<\/strong>\u00a0\u0648\u00a0\u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc (RL)<\/strong>\u00a0\u0628\u0647\u200c\u0647\u0645\u0631\u0627\u0647\u00a0\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u062a\u0648\u0633\u0639\u0647\u200c\u06cc\u0627\u0641\u062a\u0647 (EKF)<\/strong>\u00a0\u067e\u06cc\u0627\u062f\u0647\u200c\u0633\u0627\u0632\u06cc \u0648 \u0627\u0631\u0632\u06cc\u0627\u0628\u06cc \u0634\u062f\u0647\u200c\u0627\u0646\u062f. \u0647\u0645\u0686\u0646\u06cc\u0646 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u06a9\u0644\u0627\u0633\u06cc\u06a9 \u0645\u0627\u0646\u0646\u062f \u062d\u0644 \u0639\u062f\u062f\u06cc\u00a0\u0645\u0633\u0626\u0644\u0647 \u0644\u0645\u0628\u0631\u062a<\/strong>\u00a0\u0648\u00a0\u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc (PNG)<\/strong>\u00a0\u0628\u0631\u0627\u06cc \u0645\u0642\u0627\u06cc\u0633\u0647 \u0639\u0645\u0644\u06a9\u0631\u062f \u0645\u0648\u0631\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0642\u0631\u0627\u0631 \u06af\u0631\u0641\u062a\u0647\u200c\u0627\u0646\u062f. \u0646\u062a\u0627\u06cc\u062c \u0634\u0628\u06cc\u0647\u200c\u0633\u0627\u0632\u06cc\u200c\u0647\u0627 \u0628\u0647\u0628\u0648\u062f \u0686\u0634\u0645\u06af\u06cc\u0631 \u062f\u0642\u062a \u0627\u0635\u0627\u0628\u062a (\u06a9\u0645\u062a\u0631 \u0627\u0632 \u06f1 \u0645\u062a\u0631) \u0648 \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0639\u0645\u0644\u06a9\u0631\u062f \u0631\u0627 \u062f\u0631 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u0647\u0648\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f. \u0627\u06cc\u0646 \u067e\u0698\u0648\u0647\u0634 \u0628\u0633\u062a\u0631\u06cc \u0628\u0631\u0627\u06cc \u062a\u0648\u0633\u0639\u0647 \u0646\u0633\u0644 \u0622\u06cc\u0646\u062f\u0647 \u0633\u0627\u0645\u0627\u0646\u0647\u200c\u0647\u0627\u06cc \u0647\u0648\u0634\u0645\u0646\u062f \u0647\u062f\u0627\u06cc\u062a \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u0641\u0631\u0627\u0647\u0645 \u0645\u06cc\u200c\u0622\u0648\u0631\u062f.<\/p>\n

\u06f1. \u0645\u0642\u062f\u0645\u0647<\/h2>\n

\u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u0628\u0647 \u062f\u0644\u06cc\u0644 \u0633\u0631\u0639\u062a\u200c\u0647\u0627\u06cc \u0645\u0627\u0641\u0648\u0642 \u0635\u0648\u062a\u060c \u0628\u0631\u062f \u0628\u0644\u0646\u062f \u0648 \u0634\u0631\u0627\u06cc\u0637 \u0639\u0645\u0644\u06cc\u0627\u062a\u06cc \u067e\u06cc\u0686\u06cc\u062f\u0647\u060c \u0646\u06cc\u0627\u0632\u0645\u0646\u062f \u0633\u0627\u0645\u0627\u0646\u0647\u200c\u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u0648 \u0645\u0642\u0627\u0648\u0645 \u062f\u0631 \u0628\u0631\u0627\u0628\u0631 \u0646\u0648\u06cc\u0632 \u0648 \u0627\u062e\u062a\u0644\u0627\u0644\u0627\u062a \u0647\u0633\u062a\u0646\u062f. \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0633\u0646\u062a\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0648 \u0647\u062f\u0627\u06cc\u062a \u0627\u06af\u0631\u0686\u0647 \u0627\u0632 \u0646\u0638\u0631 \u0645\u0641\u0647\u0648\u0645\u06cc \u0633\u0627\u062f\u0647 \u0648 \u0642\u0627\u0628\u0644 \u0627\u0639\u062a\u0645\u0627\u062f \u0647\u0633\u062a\u0646\u062f\u060c \u0627\u0645\u0627 \u062f\u0631 \u0634\u0631\u0627\u06cc\u0637 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0648 \u063a\u06cc\u0631\u062e\u0637\u06cc \u062f\u0627\u0631\u0627\u06cc \u0645\u062d\u062f\u0648\u062f\u06cc\u062a\u200c\u0647\u0627\u06cc \u0627\u0633\u0627\u0633\u06cc \u0645\u06cc\u200c\u0628\u0627\u0634\u0646\u062f. \u0638\u0647\u0648\u0631 \u0647\u0648\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc \u0648 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646 \u0627\u0645\u06a9\u0627\u0646 \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u062f\u0642\u06cc\u0642\u200c\u062a\u0631 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0648 \u0637\u0631\u0627\u062d\u06cc \u06a9\u0646\u062a\u0631\u0644\u0631\u0647\u0627\u06cc \u062a\u0637\u0628\u06cc\u0642\u06cc \u0648 \u0645\u0642\u0627\u0648\u0645 \u0631\u0627 \u0641\u0631\u0627\u0647\u0645 \u0633\u0627\u062e\u062a\u0647 \u0627\u0633\u062a.<\/p>\n

\u062f\u0631 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647\u060c \u0628\u0647 \u0628\u0631\u0631\u0633\u06cc \u062c\u0627\u0645\u0639 \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc 6-DOF\u060c \u0634\u0628\u06a9\u0647\u200c\u0647\u0627\u06cc \u0639\u0635\u0628\u06cc \u0648 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc \u062f\u0631 \u0647\u062f\u0627\u06cc\u062a \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u067e\u0631\u062f\u0627\u062e\u062a\u0647 \u0634\u062f\u0647 \u0648 \u062a\u062d\u0644\u06cc\u0644\u200c\u0647\u0627\u06cc \u0645\u0642\u0627\u06cc\u0633\u0647\u200c\u0627\u06cc \u062f\u0642\u06cc\u0642\u06cc \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0647\u0645\u0686\u0646\u06cc\u0646 \u0686\u0627\u0644\u0634\u200c\u0647\u0627\u06cc \u0639\u0645\u0644\u06cc \u067e\u06cc\u0627\u062f\u0647\u200c\u0633\u0627\u0632\u06cc \u0627\u06cc\u0646 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u200c\u0647\u0627 \u062f\u0631 \u0645\u062d\u06cc\u0637\u200c\u0647\u0627\u06cc \u0639\u0645\u0644\u06cc\u0627\u062a\u06cc \u0648\u0627\u0642\u0639\u06cc \u0645\u0648\u0631\u062f \u0628\u062d\u062b \u0642\u0631\u0627\u0631 \u06af\u0631\u0641\u062a\u0647 \u0627\u0633\u062a.<\/p>\n

\u06f2. \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0645\u0648\u0634\u06a9 \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9<\/h2>\n

\u06f2.\u06f1 \u0645\u062f\u0644 \u06f6 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc (6-DOF)<\/h3>\n

\u0645\u062f\u0644 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u06a9\u0627\u0645\u0644 \u0645\u0648\u0634\u06a9 \u0628\u0627 \u062f\u0631 \u0646\u0638\u0631 \u06af\u0631\u0641\u062a\u0646 \u0634\u0634 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc (\u0633\u0647 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc \u0627\u0646\u062a\u0642\u0627\u0644\u06cc \u0648 \u0633\u0647 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc \u0686\u0631\u062e\u0634\u06cc) \u062a\u0648\u0633\u0639\u0647 \u06cc\u0627\u0641\u062a\u0647 \u0627\u0633\u062a. \u0628\u0631\u062f\u0627\u0631 \u062d\u0627\u0644\u062a \u0633\u06cc\u0633\u062a\u0645 \u0628\u0647 \u0635\u0648\u0631\u062a \u0632\u06cc\u0631 \u062a\u0639\u0631\u06cc\u0641 \u0645\u06cc\u200c\u0634\u0648\u062f:<\/p>\n

\"\"<\/p>\n

\u06a9\u0647 \u062f\u0631 \u0622\u0646:<\/p>\n

    \n
  • \"\": \u0645\u0648\u0642\u0639\u06cc\u062a \u0645\u0631\u06a9\u0632 \u062c\u0631\u0645 \u0645\u0648\u0634\u06a9 \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0645\u062e\u062a\u0635\u0627\u062a \u0627\u06cc\u0646\u0631\u0633\u06cc<\/li>\n
  • \"\": \u0645\u0648\u0644\u0641\u0647\u200c\u0647\u0627\u06cc \u0633\u0631\u0639\u062a \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0645\u062e\u062a\u0635\u0627\u062a \u0628\u062f\u0646\u0647<\/li>\n
  • \"\": \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631 (roll, pitch, yaw)<\/li>\n
  • \"\": \u0646\u0631\u062e\u200c\u0647\u0627\u06cc \u0686\u0631\u062e\u0634 \u062d\u0648\u0644 \u0645\u062d\u0648\u0631\u0647\u0627\u06cc \u0628\u062f\u0646\u0647<\/li>\n
  • \"\": \u062c\u0631\u0645 \u0645\u0648\u0634\u06a9<\/li>\n<\/ul>\n

    \u06f2.\u06f2 \u062f\u0633\u062a\u06af\u0627\u0647\u200c\u0647\u0627\u06cc \u0645\u062e\u062a\u0635\u0627\u062a \u0648 \u062a\u0628\u062f\u06cc\u0644\u200c\u0647\u0627<\/h3>\n

    \u0628\u0631\u0627\u06cc \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u062f\u0642\u06cc\u0642 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0645\u0648\u0634\u06a9\u060c \u0627\u0632 \u0686\u0646\u062f\u06cc\u0646 \u062f\u0633\u062a\u06af\u0627\u0647 \u0645\u062e\u062a\u0635\u0627\u062a \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f:<\/p>\n

      \n
    • \u062f\u0633\u062a\u06af\u0627\u0647 \u0627\u06cc\u0646\u0631\u0633\u06cc (I)<\/strong>: \u0645\u0631\u062c\u0639 \u062b\u0627\u0628\u062a \u0628\u0631\u0627\u06cc \u062a\u0648\u0635\u06cc\u0641 \u062d\u0631\u06a9\u062a \u0645\u0637\u0644\u0642<\/li>\n
    • \u062f\u0633\u062a\u06af\u0627\u0647 \u0628\u062f\u0646\u0647 (B)<\/strong>: \u0645\u062a\u0635\u0644 \u0628\u0647 \u0645\u0648\u0634\u06a9 \u0648 \u0647\u0645\u0631\u0627\u0647 \u0628\u0627 \u0622\u0646 \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f<\/li>\n
    • \u062f\u0633\u062a\u06af\u0627\u0647 \u0633\u0631\u0639\u062a (V)<\/strong>: \u062c\u0647\u062a\u200c\u06af\u06cc\u0631\u06cc \u0646\u0633\u0628\u062a \u0628\u0647 \u0628\u0631\u062f\u0627\u0631 \u0633\u0631\u0639\u062a<\/li>\n
    • \u062f\u0633\u062a\u06af\u0627\u0647 \u0645\u0633\u06cc\u0631 (P)<\/strong>: \u0628\u0631\u0627\u06cc \u062a\u0648\u0635\u06cc\u0641 \u0645\u0633\u06cc\u0631 \u067e\u0631\u0648\u0627\u0632<\/li>\n<\/ul>\n

      \u0645\u0627\u062a\u0631\u06cc\u0633 \u062a\u0628\u062f\u06cc\u0644 \u0627\u0632 \u062f\u0633\u062a\u06af\u0627\u0647 \u0628\u062f\u0646\u0647 \u0628\u0647 \u0627\u06cc\u0646\u0631\u0633\u06cc \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631:<\/strong><\/p>\n

      \"\"<\/p>\n

      \u06f2.\u06f3 \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a<\/h3>\n

      \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0627\u0646\u062a\u0642\u0627\u0644\u06cc \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0645\u062e\u062a\u0635\u0627\u062a \u0627\u06cc\u0646\u0631\u0633\u06cc:<\/strong><\/p>\n

      \"\"<\/p>\n

      \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0627\u0646\u062a\u0642\u0627\u0644\u06cc \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0645\u062e\u062a\u0635\u0627\u062a \u0628\u062f\u0646\u0647:<\/strong><\/p>\n

      \"\"<\/p>\n

      \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0686\u0631\u062e\u0634\u06cc:<\/strong><\/p>\n

      \"\"<\/p>\n

      \u0645\u0639\u0627\u062f\u0644\u0647 \u062a\u063a\u06cc\u06cc\u0631 \u062c\u0631\u0645:<\/strong><\/p>\n

      \"\"<\/p>\n

      \u06a9\u0647 \u062f\u0631 \u0622\u0646 \"\"\u00a0\u0645\u0627\u062a\u0631\u06cc\u0633 \u062a\u0628\u062f\u06cc\u0644 \u0627\u0632 \u062f\u0633\u062a\u06af\u0627\u0647 \u0628\u062f\u0646\u0647 \u0628\u0647 \u0627\u06cc\u0646\u0631\u0633\u06cc\u060c \"\"\u00a0\u062a\u0627\u0646\u0633\u0648\u0631 \u0627\u06cc\u0646\u0631\u0633\u06cc\u060c \"\"\u00a0\u0628\u0631\u062f\u0627\u0631 \u0633\u0631\u0639\u062a \u0632\u0627\u0648\u06cc\u0647\u200c\u0627\u06cc\u060c \u0648 \"\"\u00a0\u0646\u0631\u062e \u0645\u0635\u0631\u0641 \u062c\u0631\u0645 \u067e\u06cc\u0634\u0631\u0627\u0646 \u0627\u0633\u062a.<\/p>\n

      \u06f2.\u06f4 \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u0646\u06cc\u0631\u0648\u0647\u0627 \u0648 \u06af\u0634\u062a\u0627\u0648\u0631\u0647\u0627<\/h3>\n

      \u0646\u06cc\u0631\u0648\u0647\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0645\u062e\u062a\u0635\u0627\u062a \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0645\u062d\u0627\u0633\u0628\u0647 \u0634\u062f\u0647 \u0648 \u0633\u067e\u0633 \u0628\u0647 \u062f\u0633\u062a\u06af\u0627\u0647 \u0628\u062f\u0646\u0647 \u062a\u0628\u062f\u06cc\u0644 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f:<\/p>\n

      \"\"<\/p>\n

      \u06a9\u0647 \u062f\u0631 \u0622\u0646 \"\"\u00a0\u0646\u06cc\u0631\u0648\u06cc \u062f\u0631\u06af\u060c \"\"\u00a0\u0646\u06cc\u0631\u0648\u06cc \u062c\u0627\u0646\u0628\u06cc\u060c \u0648 \"\"\u00a0\u0646\u06cc\u0631\u0648\u06cc \u0628\u0631\u0622 \u0627\u0633\u062a. \u0627\u06cc\u0646 \u0646\u06cc\u0631\u0648\u0647\u0627 \u0628\u0647 \u0635\u0648\u0631\u062a \u0632\u06cc\u0631 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f:<\/p>\n

      \"\"<\/p>\n

      \u06af\u0634\u062a\u0627\u0648\u0631\u0647\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0646\u06cc\u0632 \u0628\u0647 \u0635\u0648\u0631\u062a \u0645\u0634\u0627\u0628\u0647 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f:<\/strong><\/p>\n

      \"\"<\/p>\n

      \u06f3. \u0645\u062f\u0644 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u0634\u0628\u06a9\u0647 \u0639\u0635\u0628\u06cc \u0639\u0645\u06cc\u0642<\/h2>\n

      \u06f3.\u06f1 \u0636\u0631\u0648\u0631\u062a \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0634\u0628\u06a9\u0647\u200c\u0647\u0627\u06cc \u0639\u0635\u0628\u06cc<\/h3>\n

      \u062f\u0631 \u0633\u0631\u0639\u062a\u200c\u0647\u0627\u06cc \u0645\u0627\u0641\u0648\u0642 \u0635\u0648\u062a\u060c \u0631\u0641\u062a\u0627\u0631 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0645\u0648\u0634\u06a9 \u0628\u0633\u06cc\u0627\u0631 \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0648 \u063a\u06cc\u0631\u062e\u0637\u06cc \u0627\u0633\u062a. \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u062a\u062d\u0644\u06cc\u0644\u06cc \u0633\u0646\u062a\u06cc \u0642\u0627\u062f\u0631 \u0628\u0647 \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u062f\u0642\u06cc\u0642 \u0627\u06cc\u0646 \u0631\u0641\u062a\u0627\u0631 \u0646\u06cc\u0633\u062a\u0646\u062f. \u0634\u0628\u06a9\u0647\u200c\u0647\u0627\u06cc \u0639\u0635\u0628\u06cc \u0639\u0645\u06cc\u0642 \u0628\u0627 \u0642\u0627\u0628\u0644\u06cc\u062a \u062a\u0642\u0631\u06cc\u0628 \u062a\u0648\u0627\u0628\u0639 \u063a\u06cc\u0631\u062e\u0637\u06cc \u067e\u06cc\u0686\u06cc\u062f\u0647\u060c \u0631\u0627\u0647\u200c\u062d\u0644 \u0645\u0646\u0627\u0633\u0628\u06cc \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u0686\u0627\u0644\u0634 \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f.<\/p>\n

      \u06f3.\u06f2 \u0633\u0627\u062e\u062a\u0627\u0631 \u0634\u0628\u06a9\u0647 \u0639\u0635\u0628\u06cc<\/h3>\n

      \u0636\u0631\u0627\u06cc\u0628 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0628\u0647 \u0635\u0648\u0631\u062a \u062a\u0627\u0628\u0639 \u063a\u06cc\u0631\u062e\u0637\u06cc \u0633\u0647 \u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u0627\u0635\u0644\u06cc \u0632\u0627\u0648\u06cc\u0647 \u062d\u0645\u0644\u0647 \"\"\u060c \u0632\u0627\u0648\u06cc\u0647 \u0631\u06a9\u0627\u0628 \"\"\u00a0\u0648 \u0639\u062f\u062f \u0645\u0627\u062e \"\"\u00a0\u0645\u062f\u0644 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f:<\/p>\n

      \"\"<\/p>\n

      \u0633\u0627\u062e\u062a\u0627\u0631 \u0634\u0628\u06a9\u0647 \u0639\u0635\u0628\u06cc \u0639\u0645\u06cc\u0642 \u0645\u0648\u0631\u062f \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0634\u0627\u0645\u0644 \u06f5 \u0644\u0627\u06cc\u0647 \u067e\u0646\u0647\u0627\u0646 \u0628\u0627 \u06f1\u06f2\u06f8 \u0646\u0648\u0631\u0648\u0646 \u062f\u0631 \u0647\u0631 \u0644\u0627\u06cc\u0647 \u0648 \u062a\u0627\u0628\u0639 \u0641\u0639\u0627\u0644\u200c\u0633\u0627\u0632 ReLU \u0627\u0633\u062a. \u0627\u06cc\u0646 \u0634\u0628\u06a9\u0647 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u0634\u0628\u06cc\u0647\u200c\u0633\u0627\u0632\u06cc CFD \u0648 \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u062a\u062c\u0631\u0628\u06cc \u0622\u0645\u0648\u0632\u0634 \u062f\u06cc\u062f\u0647 \u0627\u0633\u062a.<\/p>\n

      \u06f3.\u06f3 \u062a\u0648\u0644\u06cc\u062f \u0648 \u067e\u06cc\u0634\u200c\u067e\u0631\u062f\u0627\u0632\u0634 \u062f\u0627\u062f\u0647\u200c\u0647\u0627<\/h3>\n

      \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc \u0627\u0632 \u0645\u0646\u0627\u0628\u0639 \u0632\u06cc\u0631 \u062c\u0645\u0639\u200c\u0622\u0648\u0631\u06cc \u0634\u062f\u0647\u200c\u0627\u0646\u062f:<\/p>\n

        \n
      • \u0634\u0628\u06cc\u0647\u200c\u0633\u0627\u0632\u06cc\u200c\u0647\u0627\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0633\u06cc\u0627\u0644\u0627\u062a \u0645\u062d\u0627\u0633\u0628\u0627\u062a\u06cc (CFD) \u062f\u0631 \u0634\u0631\u0627\u06cc\u0637 \u0645\u062e\u062a\u0644\u0641 \u067e\u0631\u0648\u0627\u0632\u06cc<\/li>\n
      • \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u062a\u0648\u0646\u0644 \u0628\u0627\u062f \u0628\u0631\u0627\u06cc \u0634\u0631\u0627\u06cc\u0637 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u062e\u0627\u0635<\/li>\n
      • \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u067e\u0631\u0648\u0627\u0632\u06cc \u0648\u0627\u0642\u0639\u06cc \u0627\u0632 \u062a\u0633\u062a\u200c\u0647\u0627\u06cc \u0642\u0628\u0644\u06cc<\/li>\n<\/ul>\n

        \u067e\u06cc\u0634\u200c\u067e\u0631\u062f\u0627\u0632\u0634 \u062f\u0627\u062f\u0647\u200c\u0647\u0627 \u0634\u0627\u0645\u0644 \u0646\u0631\u0645\u0627\u0644\u200c\u0633\u0627\u0632\u06cc\u060c \u062d\u0630\u0641 \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u067e\u0631\u062a \u0648 \u0627\u0641\u0632\u0627\u06cc\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc \u062f\u0627\u062f\u0647\u200c\u0647\u0627 \u0645\u06cc\u200c\u0628\u0627\u0634\u062f.<\/p>\n

        \u0646\u06a9\u062a\u0647:<\/strong>\u00a0\u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0634\u0628\u06a9\u0647\u200c\u0647\u0627\u06cc \u0639\u0635\u0628\u06cc \u0628\u0631\u0627\u06cc \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0627\u0645\u06a9\u0627\u0646 \u062a\u0642\u0631\u06cc\u0628 \u062a\u0648\u0627\u0628\u0639 \u0628\u0633\u06cc\u0627\u0631 \u063a\u06cc\u0631\u062e\u0637\u06cc \u0631\u0627 \u0641\u0631\u0627\u0647\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f \u06a9\u0647 \u0628\u0627 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u062a\u062d\u0644\u06cc\u0644\u06cc \u0633\u0646\u062a\u06cc \u0642\u0627\u0628\u0644 \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u0646\u06cc\u0633\u062a\u0646\u062f.<\/em><\/div>\n
        <\/div>\n
        \n

        \u06f4. \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u200c\u0647\u0627\u06cc \u0647\u062f\u0627\u06cc\u062a \u0648 \u06a9\u0646\u062a\u0631\u0644<\/h2>\n

        \u06f4.\u06f1 \u062d\u0644 \u0645\u0633\u0626\u0644\u0647 \u0644\u0645\u0628\u0631\u062a (Lambert’s Problem)<\/h3>\n

        \u0645\u0633\u0626\u0644\u0647 \u0644\u0645\u0628\u0631\u062a \u06cc\u06a9\u06cc \u0627\u0632 \u0645\u0633\u0627\u0626\u0644 \u0627\u0633\u0627\u0633\u06cc \u062f\u0631 \u0645\u06a9\u0627\u0646\u06cc\u06a9 \u0645\u062f\u0627\u0631\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0627\u0646\u062a\u0642\u0627\u0644 \u0628\u06cc\u0646 \u062f\u0648 \u0646\u0642\u0637\u0647 \u062f\u0631 \u0641\u0636\u0627 \u0631\u0627 \u062f\u0631 \u06cc\u06a9 \u0632\u0645\u0627\u0646 \u0645\u0634\u062e\u0635 \u0628\u0631\u0631\u0633\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0628\u0631\u0627\u06cc \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9\u060c \u0627\u06cc\u0646 \u0645\u0633\u0626\u0644\u0647 \u0628\u0631\u0627\u06cc \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u0633\u06cc\u0631 \u0628\u0647\u06cc\u0646\u0647 \u0628\u06cc\u0646 \u0646\u0642\u0637\u0647 \u067e\u0631\u062a\u0627\u0628 \u0648 \u0647\u062f\u0641 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

        \u0628\u0647 \u0645\u0646\u0638\u0648\u0631 \u062a\u0639\u06cc\u06cc\u0646 \u0633\u0631\u0639\u062a \u0627\u0648\u0644\u06cc\u0647 \u0648 \u0646\u0647\u0627\u06cc\u06cc \u0628\u0631\u0627\u06cc \u0627\u0646\u062a\u0642\u0627\u0644 \u0645\u0648\u0634\u06a9 \u0627\u0632 \u0646\u0642\u0637\u0647 \"\"\u00a0\u0628\u0647 \"\"\u00a0\u062f\u0631 \u0632\u0645\u0627\u0646 \"\"\u060c \u0645\u0633\u0626\u0644\u0647 \u0644\u0645\u0628\u0631\u062a \u062d\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f:<\/p>\n

        \"\"<\/p>\n

        \u0645\u0633\u0626\u0644\u0647 \u0644\u0645\u0628\u0631\u062a \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0631\u0648\u0634 \u0639\u062f\u062f\u06cc \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u062a\u06a9\u0631\u0627\u0631 \u0646\u06cc\u0648\u062a\u0646-\u0631\u0627\u0641\u0633\u0648\u0646 \u062d\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f \u06a9\u0647 \u0647\u0645\u06af\u0631\u0627\u06cc\u06cc \u0633\u0631\u06cc\u0639\u06cc \u062f\u0627\u0631\u062f. \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 \u0628\u0647 \u06a9\u0627\u0631 \u0631\u0641\u062a\u0647 \u0628\u0631 \u0627\u0633\u0627\u0633 \u0631\u0648\u0634 Universal Variables formulation \u0645\u06cc\u200c\u0628\u0627\u0634\u062f.<\/p>\n

        \u06f4.\u06f2 \u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc (PNG)<\/h3>\n

        \u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc \u06cc\u06a9\u06cc \u0627\u0632 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u06a9\u0644\u0627\u0633\u06cc\u06a9 \u0648 \u067e\u0631\u06a9\u0627\u0631\u0628\u0631\u062f \u062f\u0631 \u0647\u062f\u0627\u06cc\u062a \u0645\u0648\u0634\u06a9\u200c\u0647\u0627 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0631 \u0627\u0633\u0627\u0633 \u0646\u0631\u062e \u062a\u063a\u06cc\u06cc\u0631 \u062e\u0637 \u062f\u06cc\u062f \u0639\u0645\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u06cc\u0646 \u0631\u0648\u0634 \u0628\u0647 \u0648\u06cc\u0698\u0647 \u062f\u0631 \u0641\u0627\u0632 \u0646\u0647\u0627\u06cc\u06cc \u0628\u0631\u062e\u0648\u0631\u062f \u0628\u0633\u06cc\u0627\u0631 \u0645\u0624\u062b\u0631 \u0627\u0633\u062a.<\/p>\n

        \u0634\u062a\u0627\u0628 \u0641\u0631\u0645\u0627\u0646 \u0647\u062f\u0627\u06cc\u062a \u062f\u0631 \u0645\u0631\u062d\u0644\u0647 \u0646\u0647\u0627\u06cc\u06cc \u0627\u0632 \u0631\u0627\u0628\u0637\u0647 \u0632\u06cc\u0631 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f:<\/strong><\/p>\n

        \"\"<\/p>\n

        \u06a9\u0647 \u062f\u0631 \u0622\u0646:<\/p>\n

          \n
        • \"\": \u0636\u0631\u06cc\u0628 \u0647\u062f\u0627\u06cc\u062a (\u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0628\u06cc\u0646 \u06f3 \u062a\u0627 \u06f5)<\/li>\n
        • \"\": \u0633\u0631\u0639\u062a \u0628\u0633\u062a\u0647 \u0634\u062f\u0646<\/li>\n
        • \"\": \u0646\u0631\u062e \u062a\u063a\u06cc\u06cc\u0631 \u0632\u0627\u0648\u06cc\u0647 \u062e\u0637 \u062f\u06cc\u062f (Line-of-Sight)<\/li>\n<\/ul>\n

          \u0628\u0631\u0627\u06cc \u0645\u062d\u0627\u0633\u0628\u0647 \u062f\u0642\u06cc\u0642\u200c\u062a\u0631\u060c \u0627\u0632 \u0641\u0631\u0645 \u067e\u06cc\u0634\u0631\u0641\u062a\u0647\u200c\u062a\u0631 \u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f:<\/strong><\/p>\n

          \"\"<\/p>\n

          \u06a9\u0647 \u062f\u0631 \u0622\u0646 \"\"\u00a0\u0628\u0631\u062f\u0627\u0631 \u0648\u0627\u062d\u062f \u0639\u0645\u0648\u062f \u0628\u0631 \u062e\u0637 \u062f\u06cc\u062f \u0648 \"\"\u00a0\u0634\u062a\u0627\u0628 \u0647\u062f\u0641 \u0627\u0633\u062a.<\/p>\n

          \u06f4.\u06f3 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc (RL)<\/h3>\n

          \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc \u0628\u0627 \u0627\u0645\u06a9\u0627\u0646 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0633\u06cc\u0627\u0633\u062a \u0628\u0647\u06cc\u0646\u0647 \u06a9\u0646\u062a\u0631\u0644 \u0627\u0632 \u0637\u0631\u06cc\u0642 \u062a\u0639\u0627\u0645\u0644 \u0628\u0627 \u0645\u062d\u06cc\u0637\u060c \u0631\u0627\u0647\u200c\u062d\u0644 \u0642\u062f\u0631\u062a\u0645\u0646\u062f\u06cc \u0628\u0631\u0627\u06cc \u0645\u0634\u06a9\u0644\u0627\u062a \u06a9\u0646\u062a\u0631\u0644 \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f. \u062f\u0631 \u0627\u06cc\u0646 \u067e\u0698\u0648\u0647\u0634 \u0627\u0632 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 Soft Actor-Critic (SAC) \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a.<\/p>\n

          \u06f4.\u06f3.\u06f1 \u0641\u0636\u0627\u06cc \u062d\u0627\u0644\u062a \u0648 \u0639\u0645\u0644<\/h4>\n

          \u0641\u0636\u0627\u06cc \u062d\u0627\u0644\u062a \u0634\u0627\u0645\u0644 \u0645\u062a\u063a\u06cc\u0631\u0647\u0627\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0645\u0648\u0634\u06a9 \u0648 \u0627\u0637\u0644\u0627\u0639\u0627\u062a \u0645\u0631\u0628\u0648\u0637 \u0628\u0647 \u0647\u062f\u0641 \u0627\u0633\u062a:<\/strong><\/p>\n

          \"\"<\/p>\n

          \u0641\u0636\u0627\u06cc \u0639\u0645\u0644 \u0634\u0627\u0645\u0644 \u06a9\u0646\u062a\u0631\u0644\u200c\u0647\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0648 \u067e\u06cc\u0634\u0631\u0627\u0646 \u0627\u0633\u062a:<\/strong><\/p>\n

          \"\"<\/p>\n

          \u06f4.\u06f3.\u06f2 \u062a\u0627\u0628\u0639 \u067e\u0627\u062f\u0627\u0634<\/h4>\n

          \u062a\u0627\u0628\u0639 \u067e\u0627\u062f\u0627\u0634 \u0686\u0646\u062f\u0645\u0639\u06cc\u0627\u0631\u0647 \u062c\u0647\u062a \u0628\u0647\u06cc\u0646\u0647\u200c\u0633\u0627\u0632\u06cc \u062e\u0637\u0627\u06cc \u0627\u0635\u0627\u0628\u062a\u060c \u0645\u0635\u0631\u0641 \u0633\u0648\u062e\u062a \u0648 \u0628\u0627\u0631 \u0627\u0639\u0645\u0627\u0644 \u0634\u062f\u0647 \u0637\u0631\u0627\u062d\u06cc \u0634\u062f\u0647 \u0627\u0633\u062a:<\/p>\n

          \"\"<\/p>\n

          \u06a9\u0647 \u062f\u0631 \u0622\u0646 \"\"\u00a0\u062e\u0637\u0627\u06cc \u0627\u0635\u0627\u0628\u062a\u060c \"\"\u00a0\u0645\u0635\u0631\u0641 \u0633\u0648\u062e\u062a\u060c \"\"\u00a0\u0628\u06cc\u0634\u06cc\u0646\u0647 \u0628\u0627\u0631 \u0627\u0639\u0645\u0627\u0644 \u0634\u062f\u0647 \u0628\u0647 \u0645\u0648\u0634\u06a9\u060c \u0648 \"\"\u00a0\u067e\u0627\u062f\u0627\u0634 \u0645\u0648\u0641\u0642\u06cc\u062a \u062f\u0631 \u0627\u0635\u0627\u0628\u062a \u0628\u0647 \u0647\u062f\u0641 \u0627\u0633\u062a. \u0636\u0631\u0627\u06cc\u0628 \"\"\u00a0\u0628\u0631\u0627\u06cc \u062a\u0646\u0638\u06cc\u0645 \u0627\u0647\u0645\u06cc\u062a \u0647\u0631 \u0645\u0639\u06cc\u0627\u0631 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f.<\/p>\n

          \u06f4.\u06f3.\u06f3 \u0645\u0639\u0645\u0627\u0631\u06cc \u0634\u0628\u06a9\u0647<\/h4>\n

          \u0627\u0632 \u0634\u0628\u06a9\u0647\u200c\u0647\u0627\u06cc \u0639\u0635\u0628\u06cc \u0639\u0645\u06cc\u0642 \u0628\u0627 \u0633\u0627\u062e\u062a\u0627\u0631 \u0632\u06cc\u0631 \u0628\u0631\u0627\u06cc approximator\u0647\u0627\u06cc \u062a\u0627\u0628\u0639 \u0627\u0631\u0632\u0634 \u0648 \u0633\u06cc\u0627\u0633\u062a \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a:<\/p>\n

            \n
          • \u0633\u0647 \u0644\u0627\u06cc\u0647 \u067e\u0646\u0647\u0627\u0646 \u0628\u0627 \u06f2\u06f5\u06f6 \u0646\u0648\u0631\u0648\u0646 \u062f\u0631 \u0647\u0631 \u0644\u0627\u06cc\u0647<\/li>\n
          • \u062a\u0627\u0628\u0639 \u0641\u0639\u0627\u0644\u200c\u0633\u0627\u0632 ReLU \u0628\u0631\u0627\u06cc \u0644\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u067e\u0646\u0647\u0627\u0646<\/li>\n
          • \u062e\u0631\u0648\u062c\u06cc \u062e\u0637\u06cc \u0628\u0631\u0627\u06cc \u062a\u0627\u0628\u0639 \u0627\u0631\u0632\u0634 \u0648 \u062a\u0627\u0628\u0639 tanh \u0628\u0631\u0627\u06cc \u0633\u06cc\u0627\u0633\u062a<\/li>\n<\/ul>\n

            \u06f5. \u067e\u06cc\u0627\u062f\u0647\u200c\u0633\u0627\u0632\u06cc \u0648 \u06a9\u062f\u0647\u0627\u06cc \u0646\u0645\u0648\u0646\u0647<\/h2>\n

            \u06f5.\u06f1 \u0634\u0628\u06cc\u0647\u200c\u0633\u0627\u0632\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u06f6 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc \u062f\u0631 MATLAB<\/h3>\n
            % \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0627\u0648\u0644\u06cc\u0647\r\ndt = 0.01; T = 10; % \u06af\u0627\u0645 \u0632\u0645\u0627\u0646\u06cc \u0648 \u0632\u0645\u0627\u0646 \u06a9\u0644 \u0634\u0628\u06cc\u0647\u200c\u0633\u0627\u0632\u06cc\r\nm = 1000; g = 9.81; % \u062c\u0631\u0645 \u0648 \u0634\u062a\u0627\u0628 \u06af\u0631\u0627\u0646\u0634\r\nIxx = 1000; Iyy = 2000; Izz = 1500; % \u0645\u0645\u0627\u0646\u200c\u0647\u0627\u06cc \u0627\u06cc\u0646\u0631\u0633\u06cc\r\n\r\n% \u0628\u0631\u062f\u0627\u0631\u0647\u0627\u06cc \u062d\u0627\u0644\u062a\r\nV = zeros(3, length(0:dt:T)); % \u0633\u0631\u0639\u062a \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0628\u062f\u0646\u0647\r\nr = zeros(3, length(0:dt:T)); % \u0645\u0648\u0642\u0639\u06cc\u062a \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0627\u06cc\u0646\u0631\u0633\u06cc\r\nomega = zeros(3, length(0:dt:T)); % \u0633\u0631\u0639\u062a \u0632\u0627\u0648\u06cc\u0647\u200c\u0627\u06cc\r\neuler = zeros(3, length(0:dt:T)); % \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631\r\n\r\n% \u0634\u0631\u0627\u06cc\u0637 \u0627\u0648\u0644\u06cc\u0647\r\nV(:,1) = [100; 0; 50]; % \u0633\u0631\u0639\u062a \u0627\u0648\u0644\u06cc\u0647 (m\/s)\r\nr(:,1) = [0; 0; 0]; % \u0645\u0648\u0642\u0639\u06cc\u062a \u0627\u0648\u0644\u06cc\u0647\r\neuler(:,1) = [0; 0.1; 0]; % \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631 \u0627\u0648\u0644\u06cc\u0647\r\n\r\n% \u0645\u0627\u062a\u0631\u06cc\u0633 \u0627\u06cc\u0646\u0631\u0633\u06cc\r\nJ = diag([Ixx, Iyy, Izz]);\r\n\r\n% \u062d\u0644\u0642\u0647 \u0634\u0628\u06cc\u0647\u200c\u0633\u0627\u0632\u06cc\r\nfor i = 2:length(V)\r\n    % \u0645\u0627\u062a\u0631\u06cc\u0633 \u062a\u0628\u062f\u06cc\u0644\r\n    phi = euler(1,i-1); theta = euler(2,i-1); psi = euler(3,i-1);\r\n    R_BI = [cos(theta)*cos(psi), sin(phi)*sin(theta)*cos(psi)-cos(phi)*sin(psi), cos(phi)*sin(theta)*cos(psi)+sin(phi)*sin(psi);\r\n            cos(theta)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), cos(phi)*sin(theta)*sin(psi)-sin(phi)*cos(psi);\r\n            -sin(theta), sin(phi)*cos(theta), cos(phi)*cos(theta)];\r\n    \r\n    % \u0646\u06cc\u0631\u0648\u0647\u0627\r\n    F_thrust = [0; 0; 3000]; % \u0646\u06cc\u0631\u0648\u06cc \u067e\u06cc\u0634\u0631\u0627\u0646\r\n    F_gravity = R_BI' * [0; 0; -m*g]; % \u0646\u06cc\u0631\u0648\u06cc \u06af\u0631\u0627\u0646\u0634 \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0628\u062f\u0646\u0647\r\n    F_aero = calculate_aerodynamic_forces(V(:,i-1), omega(:,i-1), euler(:,i-1)); % \u0646\u06cc\u0631\u0648\u0647\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\n    \r\n    % \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0627\u0646\u062a\u0642\u0627\u0644\u06cc\r\n    V_dot = (F_thrust + F_gravity + F_aero)\/m - cross(omega(:,i-1), V(:,i-1));\r\n    V(:,i) = V(:,i-1) + dt * V_dot;\r\n    \r\n    % \u0645\u0648\u0642\u0639\u06cc\u062a \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0627\u06cc\u0646\u0631\u0633\u06cc\r\n    r_dot = R_BI * V(:,i-1);\r\n    r(:,i) = r(:,i-1) + dt * r_dot;\r\n    \r\n    % \u06af\u0634\u062a\u0627\u0648\u0631\u0647\u0627\r\n    M_aero = calculate_aerodynamic_moments(V(:,i-1), omega(:,i-1), euler(:,i-1));\r\n    M_thrust = [0; 0; 0]; % \u06af\u0634\u062a\u0627\u0648\u0631 \u067e\u06cc\u0634\u0631\u0627\u0646 (\u0635\u0641\u0631 \u0628\u0631\u0627\u06cc \u0645\u0648\u0634\u06a9 \u0645\u062a\u0642\u0627\u0631\u0646)\r\n    \r\n    % \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0686\u0631\u062e\u0634\u06cc\r\n    omega_dot = J \\ (M_thrust + M_aero - cross(omega(:,i-1), J*omega(:,i-1)));\r\n    omega(:,i) = omega(:,i-1) + dt * omega_dot;\r\n    \r\n    % \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u0633\u06cc\u0646\u0645\u0627\u062a\u06cc\u06a9\u06cc \u0686\u0631\u062e\u0634\r\n    euler_rates = euler_kinematics(omega(:,i-1), euler(:,i-1));\r\n    euler(:,i) = euler(:,i-1) + dt * euler_rates;\r\nend\r\n\r\n% \u0631\u0633\u0645 \u0645\u0633\u06cc\u0631\r\nfigure;\r\nplot3(r(1,:), r(2,:), r(3,:), 'LineWidth', 2);\r\ngrid on;\r\nxlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)');\r\ntitle('6-DOF Missile Trajectory');\r\n\r\n% \u062a\u0627\u0628\u0639 \u0645\u062d\u0627\u0633\u0628\u0647 \u0646\u0631\u062e \u062a\u063a\u06cc\u06cc\u0631 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631\r\nfunction euler_dot = euler_kinematics(omega, euler)\r\n    phi = euler(1); theta = euler(2);\r\n    T = [1, sin(phi)*tan(theta), cos(phi)*tan(theta);\r\n         0, cos(phi), -sin(phi);\r\n         0, sin(phi)\/cos(theta), cos(phi)\/cos(theta)];\r\n    euler_dot = T * omega;\r\nend<\/pre>\n
            \u06f5.\u06f2 \u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc \u062f\u0631 MATLAB<\/h3>\n
            % \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc\r\nN = 5; dt = 0.1; T = 30;\r\n\r\n% \u0645\u0648\u0642\u0639\u06cc\u062a \u0648 \u0633\u0631\u0639\u062a \u0627\u0648\u0644\u06cc\u0647 \u0645\u0648\u0634\u06a9 \u0648 \u0647\u062f\u0641\r\npos_m = [0; 0]; pos_t = [10000; 0];\r\nvel_m = [300; 0]; vel_t = [0; 0];\r\n\r\n% \u0630\u062e\u06cc\u0631\u0647\u200c\u0633\u0627\u0632\u06cc \u0645\u0633\u06cc\u0631\r\npos_m_history = zeros(2, T\/dt);\r\npos_m_history(:,1) = pos_m;\r\n\r\n% \u0645\u062a\u063a\u06cc\u0631\u0647\u0627\u06cc \u0647\u062f\u0627\u06cc\u062a\r\nlambda_prev = atan2(pos_t(2) - pos_m(2), pos_t(1) - pos_m(1));\r\n\r\n% \u062d\u0644\u0642\u0647 \u0647\u062f\u0627\u06cc\u062a\r\nfor i = 1:(T\/dt)-1\r\n    % \u0628\u0631\u062f\u0627\u0631 \u0645\u0648\u0642\u0639\u06cc\u062a \u0646\u0633\u0628\u06cc\r\n    rel_pos = pos_t - pos_m;\r\n    \r\n    % \u0632\u0627\u0648\u06cc\u0647 \u062e\u0637 \u062f\u06cc\u062f\r\n    lambda = atan2(rel_pos(2), rel_pos(1));\r\n    \r\n    % \u0646\u0631\u062e \u062a\u063a\u06cc\u06cc\u0631 \u0632\u0627\u0648\u06cc\u0647 \u062e\u0637 \u062f\u06cc\u062f\r\n    lambda_dot = (lambda - lambda_prev) \/ dt;\r\n    \r\n    % \u0633\u0631\u0639\u062a \u0628\u0633\u062a\u0647 \u0634\u062f\u0646\r\n    v_c = dot(vel_t - vel_m, rel_pos) \/ norm(rel_pos);\r\n    \r\n    % \u0634\u062a\u0627\u0628 \u0641\u0631\u0645\u0627\u0646\r\n    a_c = N * v_c * lambda_dot;\r\n    \r\n    % \u0628\u0631\u062f\u0627\u0631 \u0634\u062a\u0627\u0628 \u0639\u0645\u0648\u062f \u0628\u0631 \u062e\u0637 \u062f\u06cc\u062f\r\n    a_vec = a_c * [-rel_pos(2); rel_pos(1)] \/ norm(rel_pos);\r\n    \r\n    % \u0628\u0647\u200c\u0631\u0648\u0632\u0631\u0633\u0627\u0646\u06cc \u0633\u0631\u0639\u062a \u0648 \u0645\u0648\u0642\u0639\u06cc\u062a\r\n    vel_m = vel_m + a_vec * dt;\r\n    pos_m = pos_m + vel_m * dt;\r\n    \r\n    % \u0630\u062e\u06cc\u0631\u0647\u200c\u0633\u0627\u0632\u06cc \u0628\u0631\u0627\u06cc \u0631\u0633\u0645 \u0646\u0645\u0648\u062f\u0627\u0631\r\n    pos_m_history(:,i+1) = pos_m;\r\n    lambda_prev = lambda;\r\n    \r\n    % \u0628\u0631\u0631\u0633\u06cc \u0628\u0631\u062e\u0648\u0631\u062f\r\n    if norm(rel_pos) < 10\r\n        fprintf('\u0628\u0631\u062e\u0648\u0631\u062f \u062f\u0631 \u0632\u0645\u0627\u0646 %.2f \u062b\u0627\u0646\u06cc\u0647\\n', i*dt);\r\n        break;\r\n    end\r\nend\r\n\r\n% \u0631\u0633\u0645 \u0645\u0633\u06cc\u0631\r\nfigure;\r\nplot(pos_m_history(1,1:i+1), pos_m_history(2,1:i+1), 'LineWidth', 2);\r\nhold on;\r\nplot(pos_t(1), pos_t(2), 'ro', 'MarkerSize', 10, 'LineWidth', 2);\r\nxlabel('X (m)'); ylabel('Y (m)');\r\ntitle('Trajectory with Proportional Navigation');\r\nlegend('Missile Path', 'Target');\r\ngrid on; axis equal;<\/pre>\n
            \u06f5.\u06f3 \u0634\u0628\u06a9\u0647 \u0639\u0635\u0628\u06cc \u062f\u0631 Python<\/h3>\n
            import tensorflow as tf\r\nimport numpy as np\r\nfrom sklearn.model_selection import train_test_split\r\nfrom sklearn.preprocessing import StandardScaler\r\n\r\n# \u062a\u0648\u0644\u06cc\u062f \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc (\u062f\u0631 \u0639\u0645\u0644 \u0627\u0632 \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u0648\u0627\u0642\u0639\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f)\r\nn_samples = 10000\r\nX_train = np.random.rand(n_samples, 3)  # [alpha, beta, Mach]\r\n# \u0645\u062d\u062f\u0648\u062f\u0647 \u0648\u0627\u0642\u0639\u06cc \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\r\nX_train[:, 0] = X_train[:, 0] * 30 - 15  # alpha: -15 to +15 deg\r\nX_train[:, 1] = X_train[:, 1] * 20 - 10  # beta: -10 to +10 deg\r\nX_train[:, 2] = X_train[:, 2] * 4 + 0.5  # Mach: 0.5 to 4.5\r\n\r\nY_train = np.random.rand(n_samples, 6)  # [CX, CY, CZ, CL, CM, CN]\r\n# \u0645\u062d\u062f\u0648\u062f\u0647 \u0648\u0627\u0642\u0639\u06cc \u0636\u0631\u0627\u06cc\u0628 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\nY_train[:, 0] = Y_train[:, 0] * 0.5 - 0.25  # CX\r\nY_train[:, 1] = Y_train[:, 1] * 0.4 - 0.2   # CY\r\nY_train[:, 2] = Y_train[:, 2] * 0.6 - 0.3   # CZ\r\nY_train[:, 3] = Y_train[:, 3] * 0.3 - 0.15  # CL\r\nY_train[:, 4] = Y_train[:, 4] * 0.4 - 0.2   # CM\r\nY_train[:, 5] = Y_train[:, 5] * 0.3 - 0.15  # CN\r\n\r\n# \u0627\u0633\u062a\u0627\u0646\u062f\u0627\u0631\u062f\u0633\u0627\u0632\u06cc \u062f\u0627\u062f\u0647\u200c\u0647\u0627\r\nscaler_X = StandardScaler()\r\nscaler_Y = StandardScaler()\r\nX_train_scaled = scaler_X.fit_transform(X_train)\r\nY_train_scaled = scaler_Y.fit_transform(Y_train)\r\n\r\n# \u062a\u0642\u0633\u06cc\u0645 \u062f\u0627\u062f\u0647 \u0628\u0647 \u0622\u0645\u0648\u0632\u0634 \u0648 \u0627\u0639\u062a\u0628\u0627\u0631\u0633\u0646\u062c\u06cc\r\nX_train, X_val, Y_train, Y_val = train_test_split(\r\n    X_train_scaled, Y_train_scaled, test_size=0.2, random_state=42\r\n)\r\n\r\n# \u0633\u0627\u062e\u062a \u0645\u062f\u0644 \u0634\u0628\u06a9\u0647 \u0639\u0635\u0628\u06cc\r\nmodel = tf.keras.Sequential([\r\n    tf.keras.layers.Dense(128, activation='relu', input_shape=(3,)),\r\n    tf.keras.layers.Dropout(0.2),\r\n    tf.keras.layers.Dense(128, activation='relu'),\r\n    tf.keras.layers.Dropout(0.2),\r\n    tf.keras.layers.Dense(128, activation='relu'),\r\n    tf.keras.layers.Dense(6)  # \u062e\u0631\u0648\u062c\u06cc: \u0636\u0631\u0627\u06cc\u0628 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\n])\r\n\r\n# \u06a9\u0627\u0645\u067e\u0627\u06cc\u0644 \u0645\u062f\u0644\r\nmodel.compile(\r\n    optimizer=tf.keras.optimizers.Adam(learning_rate=0.001),\r\n    loss='mse',\r\n    metrics=['mae']\r\n)\r\n\r\n# \u0622\u0645\u0648\u0632\u0634 \u0645\u062f\u0644\r\nhistory = model.fit(\r\n    X_train, Y_train,\r\n    epochs=100,\r\n    batch_size=32,\r\n    validation_data=(X_val, Y_val),\r\n    callbacks=[\r\n        tf.keras.callbacks.EarlyStopping(patience=10, restore_best_weights=True),\r\n        tf.keras.callbacks.ReduceLROnPlateau(patience=5, factor=0.5)\r\n    ]\r\n)\r\n\r\n# \u0627\u0631\u0632\u06cc\u0627\u0628\u06cc \u0645\u062f\u0644\r\ntest_loss, test_mae = model.evaluate(X_val, Y_val, verbose=0)\r\nprint(f\"Test MAE: {test_mae:.4f}\")\r\n\r\n# \u067e\u06cc\u0634\u200c\u0628\u06cc\u0646\u06cc \u0628\u0627 \u0645\u062f\u0644 \u0622\u0645\u0648\u0632\u0634 \u062f\u06cc\u062f\u0647\r\ndef predict_aerodynamic_coefficients(alpha, beta, mach):\r\n    \"\"\"\u067e\u06cc\u0634\u200c\u0628\u06cc\u0646\u06cc \u0636\u0631\u0627\u06cc\u0628 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0645\u062f\u0644 \u0622\u0645\u0648\u0632\u0634 \u062f\u06cc\u062f\u0647\"\"\"\r\n    input_data = np.array([[alpha, beta, mach]])\r\n    input_scaled = scaler_X.transform(input_data)\r\n    output_scaled = model.predict(input_scaled)\r\n    output = scaler_Y.inverse_transform(output_scaled)\r\n    return output[0]  # [CX, CY, CZ, CL, CM, CN]<\/pre>\n
            \u06f5.\u06f4 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc \u062f\u0631 Python<\/h3>\n
            import gym\r\nimport numpy as np\r\nfrom stable_baselines3 import SAC\r\nfrom stable_baselines3.common.env_checker import check_env\r\nfrom stable_baselines3.common.monitor import Monitor\r\nfrom stable_baselines3.common.callbacks import EvalCallback\r\n\r\n# \u062a\u0639\u0631\u06cc\u0641 \u0645\u062d\u06cc\u0637 \u0645\u0648\u0634\u06a9\r\nclass MissileEnv(gym.Env):\r\n    def __init__(self):\r\n        super(MissileEnv, self).__init__()\r\n        \r\n        # \u062a\u0639\u0631\u06cc\u0641 \u0641\u0636\u0627\u06cc \u0639\u0645\u0644 \u0648 \u0645\u0634\u0627\u0647\u062f\u0647\r\n        self.action_space = gym.spaces.Box(\r\n            low=np.array([-1, -1, -1, 0]),  # [delta_e, delta_a, delta_r, throttle]\r\n            high=np.array([1, 1, 1, 1]),\r\n            dtype=np.float32\r\n        )\r\n        \r\n        self.observation_space = gym.spaces.Box(\r\n            low=-np.inf, \r\n            high=np.inf, \r\n            shape=(20,),  # [r(3), V(3), omega(3), euler(3), m(1), r_t(3), V_t(3), t_go(1)]\r\n            dtype=np.float32\r\n        )\r\n        \r\n        # \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0645\u0648\u0634\u06a9\r\n        self.mass = 1000  # kg\r\n        self.I = np.diag([1000, 2000, 1500])  # \u0645\u0645\u0627\u0646\u200c\u0647\u0627\u06cc \u0627\u06cc\u0646\u0631\u0633\u06cc\r\n        self.max_thrust = 50000  # N\r\n        \r\n        # \u0634\u0631\u0627\u06cc\u0637 \u0627\u0648\u0644\u06cc\u0647\r\n        self.reset()\r\n        \r\n    def reset(self):\r\n        # \u0628\u0627\u0632\u0646\u0634\u0627\u0646\u06cc \u0645\u062d\u06cc\u0637 \u0628\u0647 \u062d\u0627\u0644\u062a \u0627\u0648\u0644\u06cc\u0647\r\n        self.time = 0\r\n        self.dt = 0.01\r\n        \r\n        # \u062d\u0627\u0644\u062a \u0627\u0648\u0644\u06cc\u0647 \u0645\u0648\u0634\u06a9\r\n        self.r = np.array([0, 0, 0])  # \u0645\u0648\u0642\u0639\u06cc\u062a\r\n        self.V = np.array([100, 0, 50])  # \u0633\u0631\u0639\u062a\r\n        self.omega = np.array([0, 0, 0])  # \u0633\u0631\u0639\u062a \u0632\u0627\u0648\u06cc\u0647\u200c\u0627\u06cc\r\n        self.euler = np.array([0, 0.1, 0])  # \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631\r\n        self.mass = 1000  # \u062c\u0631\u0645\r\n        \r\n        # \u0647\u062f\u0641\r\n        self.r_target = np.array([10000, 0, 0])\r\n        self.V_target = np.array([0, 0, 0])\r\n        \r\n        return self._get_obs()\r\n    \r\n    def step(self, action):\r\n        # \u0627\u0639\u0645\u0627\u0644 \u0639\u0645\u0644\r\n        delta_e, delta_a, delta_r, throttle = action\r\n        \r\n        # \u0645\u062d\u0627\u0633\u0628\u0647 \u0646\u06cc\u0631\u0648\u0647\u0627 \u0648 \u06af\u0634\u062a\u0627\u0648\u0631\u0647\u0627\r\n        F_thrust = self._calculate_thrust(throttle)\r\n        F_aero, M_aero = self._calculate_aerodynamics(delta_e, delta_a, delta_r)\r\n        F_gravity = self._calculate_gravity()\r\n        \r\n        # \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0627\u0646\u062a\u0642\u0627\u0644\u06cc\r\n        V_dot = (F_thrust + F_gravity + F_aero)\/self.mass - np.cross(self.omega, self.V)\r\n        self.V += V_dot * self.dt\r\n        \r\n        # \u0628\u0647\u200c\u0631\u0648\u0632\u0631\u0633\u0627\u0646\u06cc \u0645\u0648\u0642\u0639\u06cc\u062a\r\n        R_BI = self._euler_to_matrix()\r\n        r_dot = R_BI @ self.V\r\n        self.r += r_dot * self.dt\r\n        \r\n        # \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0686\u0631\u062e\u0634\u06cc\r\n        M_total = M_aero  # \u06af\u0634\u062a\u0627\u0648\u0631 \u067e\u06cc\u0634\u0631\u0627\u0646 \u0635\u0641\u0631 \u0627\u0633\u062a\r\n        omega_dot = np.linalg.inv(self.I) @ (M_total - np.cross(self.omega, self.I @ self.omega))\r\n        self.omega += omega_dot * self.dt\r\n        \r\n        # \u0633\u06cc\u0646\u0645\u0627\u062a\u06cc\u06a9 \u0686\u0631\u062e\u0634\r\n        euler_dot = self._euler_kinematics()\r\n        self.euler += euler_dot * self.dt\r\n        \r\n        # \u0628\u0647\u200c\u0631\u0648\u0632\u0631\u0633\u0627\u0646\u06cc \u0632\u0645\u0627\u0646\r\n        self.time += self.dt\r\n        \r\n        # \u0645\u062d\u0627\u0633\u0628\u0647 \u067e\u0627\u062f\u0627\u0634\r\n        reward = self._calculate_reward()\r\n        \r\n        # \u0628\u0631\u0631\u0633\u06cc \u067e\u0627\u06cc\u0627\u0646 \u0627\u067e\u06cc\u0632\u0648\u062f\r\n        done = self._is_done()\r\n        \r\n        return self._get_obs(), reward, done, {}\r\n    \r\n    def _get_obs(self):\r\n        \"\"\"\u0628\u0627\u0632\u06cc\u0627\u0628\u06cc \u0645\u0634\u0627\u0647\u062f\u0647 \u0645\u062d\u06cc\u0637\"\"\"\r\n        t_go = max(0, (100 - self.time))  # \u0632\u0645\u0627\u0646 \u0628\u0627\u0642\u06cc\u0645\u0627\u0646\u062f\u0647 \u062a\u0627 \u067e\u0627\u06cc\u0627\u0646 \u0627\u067e\u06cc\u0632\u0648\u062f\r\n        rel_pos = self.r_target - self.r\r\n        rel_vel = self.V_target - self.V\r\n        \r\n        obs = np.concatenate([\r\n            self.r, self.V, self.omega, self.euler,\r\n            [self.mass], rel_pos, rel_vel, [t_go]\r\n        ])\r\n        return obs\r\n    \r\n    def _calculate_reward(self):\r\n        \"\"\"\u0645\u062d\u0627\u0633\u0628\u0647 \u067e\u0627\u062f\u0627\u0634\"\"\"\r\n        miss_distance = np.linalg.norm(self.r_target - self.r)\r\n        \r\n        # \u067e\u0627\u062f\u0627\u0634 \u0645\u0646\u0641\u06cc \u0628\u0631\u0627\u06cc \u062e\u0637\u0627\u06cc \u0627\u0635\u0627\u0628\u062a\r\n        reward = -miss_distance \/ 1000\r\n        \r\n        # \u067e\u0627\u062f\u0627\u0634 \u0627\u0636\u0627\u0641\u06cc \u0628\u0631\u0627\u06cc \u0628\u0631\u062e\u0648\u0631\u062f\r\n        if miss_distance < 5:\r\n            reward += 1000\r\n        \r\n        # \u062c\u0631\u06cc\u0645\u0647 \u0628\u0631\u0627\u06cc \u0645\u0635\u0631\u0641 \u0633\u0648\u062e\u062a\r\n        fuel_used = 1000 - self.mass\r\n        reward -= fuel_used \/ 100\r\n        \r\n        # \u062c\u0631\u06cc\u0645\u0647 \u0628\u0631\u0627\u06cc \u0628\u0627\u0631\u0647\u0627\u06cc \u0628\u0627\u0644\u0627\r\n        acceleration = np.linalg.norm(self.V) \/ self.dt\r\n        if acceleration > 10 * 9.81:  # \u0628\u06cc\u0634 \u0627\u0632 10g\r\n            reward -= 10\r\n        \r\n        return reward\r\n    \r\n    def _is_done(self):\r\n        \"\"\"\u0628\u0631\u0631\u0633\u06cc \u067e\u0627\u06cc\u0627\u0646 \u0627\u067e\u06cc\u0632\u0648\u062f\"\"\"\r\n        miss_distance = np.linalg.norm(self.r_target - self.r)\r\n        \r\n        # \u0634\u0631\u0627\u06cc\u0637 \u067e\u0627\u06cc\u0627\u0646 \u0627\u067e\u06cc\u0632\u0648\u062f\r\n        if miss_distance < 5:  # \u0628\u0631\u062e\u0648\u0631\u062f \u0645\u0648\u0641\u0642\r\n            return True\r\n        elif self.time > 100:  # \u0632\u0645\u0627\u0646 \u0628\u06cc\u0634 \u0627\u0632 \u062d\u062f\r\n            return True\r\n        elif np.linalg.norm(self.r) > 15000:  # \u062e\u0627\u0631\u062c \u0627\u0632 \u0645\u062d\u062f\u0648\u062f\u0647\r\n            return True\r\n        elif self.mass < 500:  # \u0633\u0648\u062e\u062a \u062a\u0645\u0627\u0645 \u0634\u062f\u0647\r\n            return True\r\n        \r\n        return False\r\n    \r\n    def _calculate_thrust(self, throttle):\r\n        \"\"\"\u0645\u062d\u0627\u0633\u0628\u0647 \u0646\u06cc\u0631\u0648\u06cc \u067e\u06cc\u0634\u0631\u0627\u0646\"\"\"\r\n        thrust_magnitude = throttle * self.max_thrust\r\n        # \u062c\u0647\u062a \u067e\u06cc\u0634\u0631\u0627\u0646 \u062f\u0631 \u0631\u0627\u0633\u062a\u0627\u06cc \u0645\u062d\u0648\u0631 x \u0628\u062f\u0646\u0647\r\n        F_thrust = np.array([thrust_magnitude, 0, 0])\r\n        return F_thrust\r\n    \r\n    def _calculate_gravity(self):\r\n        \"\"\"\u0645\u062d\u0627\u0633\u0628\u0647 \u0646\u06cc\u0631\u0648\u06cc \u06af\u0631\u0627\u0646\u0634\"\"\"\r\n        g = 9.81\r\n        R_BI = self._euler_to_matrix()\r\n        # \u06af\u0631\u0627\u0646\u0634 \u062f\u0631 \u062f\u0633\u062a\u06af\u0627\u0647 \u0627\u06cc\u0646\u0631\u0633\u06cc (\u0645\u0646\u0641\u06cc z)\r\n        F_gravity_inertial = np.array([0, 0, -self.mass * g])\r\n        # \u062a\u0628\u062f\u06cc\u0644 \u0628\u0647 \u062f\u0633\u062a\u06af\u0627\u0647 \u0628\u062f\u0646\u0647\r\n        F_gravity = R_BI.T @ F_gravity_inertial\r\n        return F_gravity\r\n    \r\n    def _calculate_aerodynamics(self, delta_e, delta_a, delta_r):\r\n        \"\"\"\u0645\u062d\u0627\u0633\u0628\u0647 \u0646\u06cc\u0631\u0648\u0647\u0627 \u0648 \u06af\u0634\u062a\u0627\u0648\u0631\u0647\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\"\"\"\r\n        # \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0628\u0627\u06cc\u062f \u0628\u0627 \u0645\u062f\u0644 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0648\u0627\u0642\u0639\u06cc \u067e\u0631 \u0634\u0648\u062f\r\n        # \u062f\u0631 \u0627\u06cc\u0646\u062c\u0627 \u06cc\u06a9 \u0645\u062f\u0644 \u0633\u0627\u062f\u0647 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a\r\n        \r\n        # \u0645\u062d\u0627\u0633\u0628\u0647 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\n        V_mag = np.linalg.norm(self.V)\r\n        if V_mag < 1e-6:\r\n            alpha = 0\r\n            beta = 0\r\n        else:\r\n            alpha = np.arctan2(self.V[2], self.V[0])\r\n            beta = np.arcsin(self.V[1] \/ V_mag)\r\n        \r\n        mach = V_mag \/ 340  # \u0633\u0631\u0639\u062a \u0635\u0648\u062a \u062a\u0642\u0631\u06cc\u0628\u06cc\r\n        \r\n        # \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0645\u062f\u0644 DNN \u0628\u0631\u0627\u06cc \u0645\u062d\u0627\u0633\u0628\u0647 \u0636\u0631\u0627\u06cc\u0628 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\n        # C_X, C_Y, C_Z, C_L, C_M, C_N = self.dnn_model.predict(alpha, beta, mach)\r\n        \r\n        # \u0645\u062f\u0644 \u0633\u0627\u062f\u0647 \u062e\u0637\u06cc \u0628\u0631\u0627\u06cc \u0646\u0645\u0648\u0646\u0647\r\n        C_X = 0.1 - 0.01 * alpha**2\r\n        C_Y = 0.01 * beta + 0.001 * delta_r\r\n        C_Z = 0.2 * alpha + 0.05 * delta_e\r\n        C_L = 0.01 * delta_a + 0.001 * beta\r\n        C_M = 0.05 * delta_e - 0.02 * alpha\r\n        C_N = 0.01 * delta_r - 0.005 * beta\r\n        \r\n        # \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\n        rho = 1.225  # \u0686\u06af\u0627\u0644\u06cc \u0647\u0648\u0627 \u062f\u0631 \u0633\u0637\u062d \u062f\u0631\u06cc\u0627\r\n        S = 0.5  # \u0633\u0637\u062d \u0645\u0642\u0637\u0639 \u0645\u0631\u062c\u0639\r\n        b = 2.0  # \u0637\u0648\u0644 \u0628\u0627\u0632\u0648\u06cc \u06a9\u0646\u062a\u0631\u0644\r\n        c = 1.0  # \u0648\u062a\u0631 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\n        \r\n        # \u0646\u06cc\u0631\u0648\u0647\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\n        q = 0.5 * rho * V_mag**2\r\n        F_aero = q * S * np.array([-C_X, C_Y, -C_Z])\r\n        \r\n        # \u06af\u0634\u062a\u0627\u0648\u0631\u0647\u0627\u06cc \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\r\n        M_aero = q * S * np.array([b * C_L, c * C_M, b * C_N])\r\n        \r\n        return F_aero, M_aero\r\n    \r\n    def _euler_to_matrix(self):\r\n        \"\"\"\u062a\u0628\u062f\u06cc\u0644 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631 \u0628\u0647 \u0645\u0627\u062a\u0631\u06cc\u0633 \u062a\u0628\u062f\u06cc\u0644\"\"\"\r\n        phi, theta, psi = self.euler\r\n        R_BI = np.array([\r\n            [np.cos(theta)*np.cos(psi), np.sin(phi)*np.sin(theta)*np.cos(psi)-np.cos(phi)*np.sin(psi), np.cos(phi)*np.sin(theta)*np.cos(psi)+np.sin(phi)*np.sin(psi)],\r\n            [np.cos(theta)*np.sin(psi), np.sin(phi)*np.sin(theta)*np.sin(psi)+np.cos(phi)*np.cos(psi), np.cos(phi)*np.sin(theta)*np.sin(psi)-np.sin(phi)*np.cos(psi)],\r\n            [-np.sin(theta), np.sin(phi)*np.cos(theta), np.cos(phi)*np.cos(theta)]\r\n        ])\r\n        return R_BI\r\n    \r\n    def _euler_kinematics(self):\r\n        \"\"\"\u0645\u0639\u0627\u062f\u0644\u0627\u062a \u0633\u06cc\u0646\u0645\u0627\u062a\u06cc\u06a9\u06cc \u0628\u0631\u0627\u06cc \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631\"\"\"\r\n        phi, theta, _ = self.euler\r\n        T = np.array([\r\n            [1, np.sin(phi)*np.tan(theta), np.cos(phi)*np.tan(theta)],\r\n            [0, np.cos(phi), -np.sin(phi)],\r\n            [0, np.sin(phi)\/np.cos(theta), np.cos(phi)\/np.cos(theta)]\r\n        ])\r\n        euler_dot = T @ self.omega\r\n        return euler_dot\r\n\r\n# \u0627\u06cc\u062c\u0627\u062f \u0648 \u0628\u0631\u0631\u0633\u06cc \u0645\u062d\u06cc\u0637\r\nenv = MissileEnv()\r\nenv = Monitor(env)\r\n\r\n# \u0628\u0631\u0631\u0633\u06cc \u0635\u062d\u062a \u0645\u062d\u06cc\u0637\r\ncheck_env(env)\r\n\r\n# \u0627\u06cc\u062c\u0627\u062f \u0645\u062f\u0644 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc\r\nmodel = SAC(\r\n    'MlpPolicy',\r\n    env,\r\n    learning_rate=0.0003,\r\n    buffer_size=1000000,\r\n    batch_size=256,\r\n    verbose=1,\r\n    tensorboard_log=\".\/sac_missile_tensorboard\/\"\r\n)\r\n\r\n# \u0622\u0645\u0648\u0632\u0634 \u0645\u062f\u0644\r\neval_callback = EvalCallback(\r\n    env,\r\n    best_model_save_path=\".\/best_model\/\",\r\n    log_path=\".\/logs\/\",\r\n    eval_freq=10000\r\n)\r\n\r\nmodel.learn(\r\n    total_timesteps=1000000,\r\n    callback=eval_callback\r\n)\r\n\r\n# \u0630\u062e\u06cc\u0631\u0647 \u0645\u062f\u0644 \u0622\u0645\u0648\u0632\u0634\u200c\u062f\u06cc\u062f\u0647\r\nmodel.save(\"sac_missile_model\")<\/pre>\n
            \u06f6. \u062a\u062d\u0644\u06cc\u0644 \u062c\u0627\u0645\u0639 \u0631\u0648\u0634\u200c\u0647\u0627<\/h2>\n
            \u062f\u0631 \u0627\u06cc\u0646 \u0628\u062e\u0634\u060c \u062a\u062d\u0644\u06cc\u0644 \u0639\u0645\u0644\u06a9\u0631\u062f \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0627\u0632 \u0645\u0646\u0638\u0631 \u062f\u0642\u062a\u060c \u067e\u06cc\u0686\u06cc\u062f\u06af\u06cc\u060c \u0633\u0631\u0639\u062a \u0627\u062c\u0631\u0627\u060c \u0645\u0642\u0627\u0648\u0645\u062a \u0628\u0647 \u0646\u0648\u06cc\u0632 \u0648 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u062f\u0627\u062f\u0647 \u0627\u0646\u062c\u0627\u0645 \u0634\u062f\u0647 \u0627\u0633\u062a:<\/p>\n
            \n\n\n\n\t\n\n\t\n\t\n\t\n\t\n\t\n\t\n\t
            \u0645\u0639\u06cc\u0627\u0631<\/th>\u0641\u0636\u0627\u06cc \u062d\u0627\u0644\u062a<\/th>\u06f6-DOF<\/th>\u0644\u0645\u0628\u0631\u062a<\/th>\u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc<\/th>DNN<\/th>RL<\/th>EKF<\/th>\n<\/tr>\n<\/thead>\n
            \u062f\u0642\u062a \u0627\u0635\u0627\u0628\u062a (\u0645\u062a\u0631)<\/td>\u06f5-\u06f1\u06f0<\/td>\u06f1-\u06f3<\/td><\u06f1<\/td>\u06f2-\u06f5<\/td><\u06f1<\/td><\u06f1<\/td>\u06f1-\u06f2<\/td>\n<\/tr>\n
            \u067e\u06cc\u0686\u06cc\u062f\u06af\u06cc \u0645\u062d\u0627\u0633\u0628\u0627\u062a<\/td>\u06a9\u0645<\/td>\u0632\u06cc\u0627\u062f<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\u06a9\u0645<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\u0632\u06cc\u0627\u062f<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\n<\/tr>\n
            \u0633\u0631\u0639\u062a \u0627\u062c\u0631\u0627 (\u0645\u06cc\u0644\u06cc\u200c\u062b\u0627\u0646\u06cc\u0647)<\/td>\u06f1<\/td>\u06f1\u06f0\u06f0+<\/td>\u06f5<\/td>\u06f1<\/td>\u06f5\u06f0+<\/td>\u06f2\u06f0\u06f0+<\/td>\u06f1\u06f0<\/td>\n<\/tr>\n
            \u0645\u0642\u0627\u0648\u0645\u062a \u0628\u0647 \u0646\u0648\u06cc\u0632<\/td>\u06a9\u0645<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\u06a9\u0645<\/td>\u06a9\u0645<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\u0632\u06cc\u0627\u062f<\/td>\u0632\u06cc\u0627\u062f<\/td>\n<\/tr>\n
            \u0646\u06cc\u0627\u0632 \u0628\u0647 \u062f\u0627\u062f\u0647<\/td>\u06a9\u0645<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\u06a9\u0645<\/td>\u06a9\u0645<\/td>\u0632\u06cc\u0627\u062f<\/td>\u0632\u06cc\u0627\u062f<\/td>\u06a9\u0645<\/td>\n<\/tr>\n
            \u0642\u0627\u0628\u0644\u06cc\u062a \u062a\u0639\u0645\u06cc\u0645<\/td>\u06a9\u0645<\/td>\u0628\u0627\u0644\u0627<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\u06a9\u0645<\/td>\u0628\u0627\u0644\u0627<\/td>\u0628\u0627\u0644\u0627<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\n<\/tr>\n
            \u0645\u0642\u0627\u0648\u0645\u062a \u0628\u0647 \u0639\u062f\u0645 \u0642\u0637\u0639\u06cc\u062a<\/td>\u06a9\u0645<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\u06a9\u0645<\/td>\u06a9\u0645<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\u0628\u0627\u0644\u0627<\/td>\u0645\u062a\u0648\u0633\u0637<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n
            \u0646\u0645\u0648\u062f\u0627\u0631 \u0645\u0642\u0627\u06cc\u0633\u0647 \u062f\u0642\u062a \u0631\u0648\u0634 \u0647\u0627\u0647\u062f\u06cc\u062a<\/strong><\/p>\n
            \"\"<\/p>\n
            \u0645\u0642\u0627\u06cc\u0633\u0647 \u0632\u0645\u0627\u0646 \u0627\u062c\u0631\u0627\u06cc \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 \u0647\u0627<\/strong><\/p>\n
            \"\"<\/p>\n
            \u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u0642\u0627\u0648\u0645\u062a \u0631\u0648\u0634 \u0647\u0627 \u062f\u0631 \u0628\u0631\u0627\u0628\u0631 \u0646\u0648\u06cc\u0632 \u0648 \u0627\u062e\u062a\u0644\u0627\u0644<\/strong><\/p>\n
            \"\"<\/p>\n
            \u06f8. \u0646\u062a\u06cc\u062c\u0647\u200c\u06af\u06cc\u0631\u06cc<\/h2>\n
            \n
            \u062f\u0631 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647\u060c \u0686\u0627\u0631\u0686\u0648\u0628 \u062c\u0627\u0645\u0639\u06cc \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0648 \u0647\u062f\u0627\u06cc\u062a \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0627\u0632 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u0647\u0648\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc \u0627\u0631\u0627\u0626\u0647 \u0634\u062f. \u062a\u0631\u06a9\u06cc\u0628 \u0645\u062f\u0644\u200c\u0647\u0627\u06cc \u062f\u0642\u06cc\u0642 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 6-DOF \u0648 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062f\u0627\u062f\u0647\u200c\u0645\u062d\u0648\u0631 DNN \u0628\u0627 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u200c\u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc\u060c \u062a\u0639\u0627\u062f\u0644\u06cc \u0628\u06cc\u200c\u0646\u0638\u06cc\u0631 \u062f\u0631 \u062f\u0642\u062a\u060c \u067e\u0627\u06cc\u062f\u0627\u0631\u06cc \u0648 \u0645\u0642\u0627\u0648\u0645\u062a \u0628\u0647 \u0646\u0648\u06cc\u0632 \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n
            \u0646\u062a\u0627\u06cc\u062c \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f \u06a9\u0647 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u0647\u0648\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc (DNN \u0648 RL) \u0628\u0627 \u062f\u0642\u062a \u0627\u0635\u0627\u0628\u062a \u06a9\u0645\u062a\u0631 \u0627\u0632 \u06f1 \u0645\u062a\u0631\u060c \u0639\u0645\u0644\u06a9\u0631\u062f \u0628\u0647\u062a\u0631\u06cc \u0646\u0633\u0628\u062a \u0628\u0647 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0633\u0646\u062a\u06cc \u062f\u0627\u0631\u0646\u062f. \u0647\u0631\u0686\u0646\u062f \u0627\u06cc\u0646 \u0631\u0648\u0634\u200c\u0647\u0627 \u0627\u0632 \u067e\u06cc\u0686\u06cc\u062f\u06af\u06cc \u0645\u062d\u0627\u0633\u0628\u0627\u062a\u06cc \u0648 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u062f\u0627\u062f\u0647 \u0628\u06cc\u0634\u062a\u0631\u06cc \u0628\u0631\u062e\u0648\u0631\u062f\u0627\u0631 \u0647\u0633\u062a\u0646\u062f\u060c \u0627\u0645\u0627 \u0645\u0632\u0627\u06cc\u0627\u06cc \u0622\u0646\u0647\u0627 \u062f\u0631 \u0634\u0631\u0627\u06cc\u0637 \u0639\u0645\u0644\u06cc\u0627\u062a\u06cc \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0648 \u063a\u06cc\u0631\u062e\u0637\u06cc\u060c \u0627\u06cc\u0646 \u0647\u0632\u06cc\u0646\u0647\u200c\u0647\u0627 \u0631\u0627 \u062a\u0648\u062c\u06cc\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n
            \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0633\u0646\u062a\u06cc \u0645\u0627\u0646\u0646\u062f \u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc \u0648 \u062d\u0644 \u0645\u0633\u0626\u0644\u0647 \u0644\u0645\u0628\u0631\u062a \u0647\u0645\u0686\u0646\u0627\u0646 \u0627\u0632 \u0646\u0638\u0631 \u0633\u0631\u0639\u062a \u0648 \u0633\u0627\u062f\u06af\u06cc Implementation \u0645\u0632\u0627\u06cc\u0627\u06cc\u06cc \u062f\u0627\u0631\u0646\u062f\u060c \u0627\u0645\u0627 \u0645\u062d\u062f\u0648\u062f\u06cc\u062a \u0642\u0627\u0628\u0644 \u062a\u0648\u062c\u0647\u06cc \u062f\u0631 \u0634\u0631\u0627\u06cc\u0637 \u067e\u0631\u0633\u0631\u0639\u062a \u0648 \u063a\u06cc\u0631\u062e\u0637\u06cc \u0627\u0632 \u062e\u0648\u062f \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f.<\/p>\n
            \u0628\u0647\u06cc\u0646\u0647\u200c\u0633\u0627\u0632\u06cc \u0627\u062c\u0631\u0627\u06cc \u0628\u0644\u0627\u062f\u0631\u0646\u06af \u0648 \u0637\u0631\u0627\u062d\u06cc \u0633\u062e\u062a\u200c\u0627\u0641\u0632\u0627\u0631 \u0645\u0646\u0627\u0633\u0628 \u0628\u0631\u0627\u06cc \u0627\u06cc\u0646 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u200c\u0647\u0627 \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0686\u0627\u0644\u0634 \u0627\u0635\u0644\u06cc \u062a\u062d\u0642\u06cc\u0642\u0627\u062a \u0622\u06cc\u0646\u062f\u0647 \u0645\u0637\u0631\u062d \u0627\u0633\u062a. \u0647\u0645\u0686\u0646\u06cc\u0646\u060c \u062a\u0648\u0633\u0639\u0647 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0647\u06cc\u0628\u0631\u06cc\u062f\u06cc \u06a9\u0647 \u0645\u0632\u0627\u06cc\u0627\u06cc \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0633\u0646\u062a\u06cc \u0648 \u0645\u062f\u0631\u0646 \u0631\u0627 \u062a\u0631\u06a9\u06cc\u0628 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0631\u0627\u0647\u200c\u062d\u0644 \u0645\u0646\u0627\u0633\u0628\u06cc \u0628\u0631\u0627\u06cc \u06a9\u0627\u0631\u0628\u0631\u062f\u0647\u0627\u06cc \u0639\u0645\u0644\u06cc \u0628\u0627\u0634\u062f.<\/p>\n
            \u062f\u0631 \u0646\u0647\u0627\u06cc\u062a\u060c \u0627\u06cc\u0646 \u067e\u0698\u0648\u0647\u0634 \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f \u06a9\u0647 \u0647\u0648\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc \u0648 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646 \u067e\u062a\u0627\u0646\u0633\u06cc\u0644 \u0628\u0627\u0644\u0627\u06cc\u06cc \u0628\u0631\u0627\u06cc \u062a\u062d\u0648\u0644 \u062f\u0631 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u0647\u062f\u0627\u06cc\u062a \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u062f\u0627\u0631\u0646\u062f \u0648 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u0646\u062f \u062f\u0642\u062a \u0648 \u0642\u0627\u0628\u0644\u06cc\u062a \u0627\u0637\u0645\u06cc\u0646\u0627\u0646 \u0627\u06cc\u0646 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627 \u0631\u0627 \u0628\u0647 \u0637\u0648\u0631 \u0686\u0634\u0645\u06af\u06cc\u0631\u06cc \u0628\u0647\u0628\u0648\u062f \u0628\u062e\u0634\u0646\u062f.<\/p>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"
            \u0686\u06a9\u06cc\u062f\u0647 \u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u06cc\u06a9 \u0686\u0627\u0631\u0686\u0648\u0628 \u062c\u0627\u0645\u0639 \u0628\u0631\u0627\u06cc \u0645\u062f\u0644\u200c\u0633\u0627\u0632\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u00a0\u0634\u0634 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc (6-DOF)\u00a0\u0648 \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u0628\u0627 \u0633\u0631\u0639\u062a\u200c\u0647\u0627\u06cc\u00a0\u0645\u0627\u0641\u0648\u0642 \u0635\u0648\u062a (Hypersonic)\u00a0\u0627\u0631\u0627\u0626\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f. \u062f\u0631 \u0627\u06cc\u0646 \u067e\u0698\u0648\u0647\u0634\u060c \u0645\u062f\u0644\u200c\u0647\u0627\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc\u060c \u0622\u06cc\u0631\u0648\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc\u060c \u062d\u0631\u0627\u0631\u062a\u06cc \u0648 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u200c\u0647\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u067e\u06cc\u0634\u0631\u0641\u062a\u0647 \u0634\u0627\u0645\u0644\u00a0\u0634\u0628\u06a9\u0647\u200c\u0647\u0627\u06cc \u0639\u0635\u0628\u06cc \u0639\u0645\u06cc\u0642 (DNN)\u00a0\u0648\u00a0\u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062a\u0642\u0648\u06cc\u062a\u06cc (RL)\u00a0\u0628\u0647\u200c\u0647\u0645\u0631\u0627\u0647\u00a0\u0641\u06cc\u0644\u062a\u0631 \u06a9\u0627\u0644\u0645\u0646 \u062a\u0648\u0633\u0639\u0647\u200c\u06cc\u0627\u0641\u062a\u0647 (EKF)\u00a0\u067e\u06cc\u0627\u062f\u0647\u200c\u0633\u0627\u0632\u06cc \u0648 \u0627\u0631\u0632\u06cc\u0627\u0628\u06cc \u0634\u062f\u0647\u200c\u0627\u0646\u062f. \u0647\u0645\u0686\u0646\u06cc\u0646 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u06a9\u0644\u0627\u0633\u06cc\u06a9 \u0645\u0627\u0646\u0646\u062f \u062d\u0644 \u0639\u062f\u062f\u06cc\u00a0\u0645\u0633\u0626\u0644\u0647 \u0644\u0645\u0628\u0631\u062a\u00a0\u0648\u00a0\u0647\u062f\u0627\u06cc\u062a \u062a\u0646\u0627\u0633\u0628\u06cc (PNG)\u00a0\u0628\u0631\u0627\u06cc \u0645\u0642\u0627\u06cc\u0633\u0647 \u0639\u0645\u0644\u06a9\u0631\u062f \u0645\u0648\u0631\u062f…<\/p>\n","protected":false},"author":1,"featured_media":8612,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2140],"tags":[2493,2491,2495,2490,2492,51,2494,2429],"class_list":["post-8288","post","type-post","status-publish","format-standard","has-post-thumbnail","category-2140","tag-2493","tag-2491","tag--6-dof","tag-2490","tag-2492","tag-51","tag-2494","tag-2429"],"yoast_head":"\n\u06a9\u0646\u062a\u0631\u0644 \u0648 \u0647\u062f\u0627\u06cc\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u0628\u0627 \u0647\u0648\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc \u0648 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646 - \u0633\u06cc\u062f \u0645\u0647\u062f\u06cc \u0633\u0644\u06cc\u0645\u06cc<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/mehdisalimi.ir\/?p=8288\" \/>\n<meta property=\"og:locale\" content=\"fa_IR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u06a9\u0646\u062a\u0631\u0644 \u0648 \u0647\u062f\u0627\u06cc\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 \u0645\u0648\u0634\u06a9\u200c\u0647\u0627\u06cc \u0628\u0627\u0644\u0633\u062a\u06cc\u06a9 \u0628\u0627 \u0647\u0648\u0634 \u0645\u0635\u0646\u0648\u0639\u06cc \u0648 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0627\u0634\u06cc\u0646 - \u0633\u06cc\u062f \u0645\u0647\u062f\u06cc \u0633\u0644\u06cc\u0645\u06cc\" \/>\n<meta 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