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多機器人避障防碰路徑規劃,最后形成編隊,MATLAB仿真程序

代碼片段和文件信息
function?theta=compute_angle(XXsumn)
???for?i=1:n+1
??????deltaX(i)=Xsum(i1)-X(1);
??????XX(i)=abs(deltaX(i));
??????deltaY(i)=Xsum(i2)-X(2);
??????r(i)=sqrt(deltaX(i)^2+deltaY(i)^2);
??????if?(deltaX(i)>0)
?????theta(i)=sign(deltaY(i))*acos(deltaX(i)/r(i));
??????else?
???????????theta(i)=sign(deltaY(i))*(acos(deltaX(i)/r(i))+pi);
??????end
???end
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????2075??2017-05-28?21:18??ff.m
?????文件???????6091??2017-11-01?13:11??fff40.m
?????文件???????1125??2017-05-29?16:29??Improve_repulsion.m
?????文件??????17385??2017-09-27?22:56??junbu.m
?????文件??????14730??2017-10-18?22:32??juxing.m
?????文件???????8632??2017-12-18?22:21??yicitongguo.m
?????文件???????1555??2017-12-18?21:56??yundong.m
?????文件??????17923??2017-10-31?20:29??zhixian.asv
?????文件??????17923??2017-10-31?20:30??zhixian.m
?????文件????????369??2017-12-18?21:54??compute_angle.m
?????文件????????170??2017-05-14?23:31??compute_angle_wuzhangai.m
?????文件????????150??2017-05-21?02:08??compute_Attract.m
?????文件????????176??2017-05-21?14:55??compute_mul_angle.m
?????文件????????386??2017-05-21?16:59??compute_mutual.m
-----------?---------??----------?-----??----
????????????????88690????????????????????14
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