【路径规划】基于matlab GUI改进的迪杰斯特拉算法路径规划【含Matlab源码 1031期】
2021/6/20 11:51:57
本文主要是介绍【路径规划】基于matlab GUI改进的迪杰斯特拉算法路径规划【含Matlab源码 1031期】,对大家解决编程问题具有一定的参考价值,需要的程序猿们随着小编来一起学习吧!
一、简介
DWA算法全称为dynamic window approach,其原理主要是在速度空间(v,w)中采样多组速度,并模拟这些速度在一定时间内的运动轨迹,再通过一个评价函数对这些轨迹打分,最优的速度被选择出来发送给下位机。
1 原理分析
2 速度采样
机器人的轨迹运动模型有了,根据速度就可以推算出轨迹。
因此只需采样很多速度,推算轨迹,然后评价这些轨迹好不好就行了。
(一)移动机器人受自身最大速度最小速度的限制
(二) 移动机器人受电机性能的影响:由于电机力矩有限,存在最大的加減速限制,因此移动机器人軌迹前向模拟的周期sim_period内,存在一个动态窗口,在该窗口内的速度是机器人能够实际达到的速度:
(三) 基于移动机器人安全的考虑:为了能够在碰到障碍物前停下来, 因此在最大减速度条件下, 速度有一个范围。
二、源代码
function varargout = main(varargin) % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @main_OpeningFcn, ... 'gui_OutputFcn', @main_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before main is made visible. function main_OpeningFcn(hObject, eventdata, handles, varargin) handles.output = hObject; %initial values load('graph.mat'); load('position.mat'); load('labelnodeposition.mat'); load('labeledge.mat'); handles.graph = graph; handles.graph_backup = graph; handles.position = position; handles.labelnodeposition = labelnodeposition; handles.labeledgeposition = getlabeledgeposition; handles.labeledge = labeledge; handles.source = 1; handles.destination = 1; handles.street = 'J1 '; guidata(hObject, handles); axes(handles.axes1); hold on; gplot(handles.graph, handles.position,'-ok'); for i = 1:27 text(handles.labelnodeposition(i,1),handles.labelnodeposition(i,2),int2str(i),'FontSize',7,'Color','k'); end for i= 1:36 text(handles.labeledgeposition(i,1),handles.labeledgeposition(i,2),handles.labeledge(i,1:3),'FontSize',7,'Color','b'); end axis off; % --- Outputs from this function are returned to the command line. function varargout = main_OutputFcn(hObject, eventdata, handles) varargout{1} = handles.output; % --- Executes when figure1 is resized. function figure1_ResizeFcn(hObject, eventdata, handles) % --- Executes on selection change in popupmenu2. function popupmenu2_Callback(hObject, eventdata, handles) val = get(hObject,'Value'); string_list = get(hObject,'String'); source =char(string_list(val)); handles.source = str2num(source); guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function popupmenu2_CreateFcn(hObject, eventdata, handles) val = get(hObject,'Value'); string_list = get(hObject,'String'); source = char(string_list(val)); handles.source = str2num(source); guidata(hObject, handles); % Hint: popupmenu controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes on selection change in popupmenu3. function popupmenu3_Callback(hObject, eventdata, handles) val = get(hObject,'Value'); string_list = get(hObject,'String'); destination = char(string_list(val)); handles.destination = str2num(destination); guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function popupmenu3_CreateFcn(hObject, eventdata, handles) val = get(hObject,'Value'); string_list = get(hObject,'String'); destination = char(string_list(val)); handles.destination = str2num(destination); guidata(hObject, handles); % Hint: popupmenu controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white'); end % --- Executes on button press in pushbutton1. function pushbutton1_Callback(hObject, eventdata, handles) axes(handles.axes1); [cost rute] = showShortestPath(handles.graph,handles.position,handles.source,handles.destination); % --- Executes on selection change in popupmenu4. function popupmenu4_Callback(hObject, eventdata, handles) val = get(hObject,'Value'); string_list = get(hObject,'String'); handles.street = char(string_list(val)); guidata(hObject, handles); function [node1 node2]=street2node(street) node1=1; node2=2; switch street case 'J1' node1 = 1; node2 = 2; case 'J2' node1 = 2; node2 = 3; case 'J3' node1 = 3; node2 = 4; case 'J4' node1 = 4; node2 = 5; case 'J5' node1 = 22; node2 = 26; case 'J6' node1 = 26; node2 = 27; case 'J7' node1 = 8; node2 = 9; case 'J8' node1 = 9; node2 = 10; case 'J9' node1 = 10; node2 = 11; case 'J10' node1 = 6; node2 = 7; case 'J11' node1 = 7; node2 = 12; case 'J12' node1 = 12; node2 = 13; case 'J13' node1 = 13; node2 = 14; case 'J14' node1 = 14; node2 = 15; case 'J15' node1 = 15; node2 = 16; case 'J16' node1 = 17; node2 = 18; case 'J17' node1 = 18; node2 = 19; case 'J18' node1 = 19; node2 = 20; case 'J19' node1 = 2; node2 = 7; case 'J20' node1 = 22; node2 = 8; case 'J21' node1 = 8; node2 = 12; case 'J22' node1 = 12; node2 = 17; case 'J23' node1 = 17; node2 = 23; case 'J24' node1 = 9; node2 = 13; case 'J25' node1 = 13; node2 = 18; case 'J26' node1 = 18; node2 = 24; case 'J27' node1 = 3; node2 = 26; case 'J28' node1 = 26; node2 = 10; case 'J29' node1 = 10; node2 = 14; case 'J30' node1 = 14; node2 = 19; case 'J31' node1 = 19; node2 = 25; case 'J32' node1 = 4; node2 = 27; case 'J33' node1 = 27; node2 = 11; case 'J34' node1 = 11; node2 = 15; case 'J35' node1 = 15; node2 = 20; case 'J36' node1 = 20; node2 = 21; end
三、运行结果
四、备注
版本:2014a
完整代码或代写加1564658423
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