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關(guān)于粒子群算法的路徑規(guī)劃問(wèn)題的matlab的代碼

資源截圖

代碼片段和文件信息

%--------判斷兩個(gè)點(diǎn)的連接是否為連通狀態(tài)--------------------
function?result?=?Conn(x1y1x2y2)
%----聲明全局----------------------------
global?obstaclesx;
global?obstaclesy;
global?robotv;
%------------------

result?=?true;
theta?=?straightLine(x1y1x2y2);

%進(jìn)行半徑為robtov的膨脹
%計(jì)算出機(jī)器人的四邊形
x?=?robotv*cos(theta);
y?=?robotv*sin(theta);
roblinex?=?[x1+xx2+xx2-xx1-xx1+x];
robliney?=?[y1+yy2+yy2-yy1-yy1+y];
%判斷連接處是否有障礙物,有的話返回false

for?i?=?1:size(obstaclesx1)
????%求機(jī)器人多邊形和障礙物多邊形是否相交
?
????if?poly_cross(roblinexroblineyobstaclesx(i:)obstaclesy(i:))
????????result?=?false;
????????return;
????end
end




?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----
?????文件?????????702??2020-07-28?02:42??pso_pathplanning\Conn.m
?????文件?????????227??2020-07-28?02:42??pso_pathplanning\convertTopolar.m
?????文件?????????616??2020-07-28?02:42??pso_pathplanning\fitness.m
?????文件????????1762??2020-07-28?02:42??pso_pathplanning\initial.m
?????文件?????????521??2020-07-28?02:42??pso_pathplanning\initialmap.m
?????文件????????1330??2020-07-28?02:42??pso_pathplanning\initX.m
?????文件?????????462??2020-07-28?02:42??pso_pathplanning\line_cross.m
?????文件????????2486??2020-07-28?02:42??pso_pathplanning\main.m
?????文件?????????693??2020-07-28?02:42??pso_pathplanning\movedone.m
?????文件????????3430??2020-07-28?02:42??pso_pathplanning\pathplanning.m
?????文件?????????195??2020-07-28?02:42??pso_pathplanning\plorTozhijiao.m
?????文件?????????588??2020-07-28?02:42??pso_pathplanning\poly_cross.m
?????文件????????5757??2020-07-28?02:42??pso_pathplanning\PSO.m
?????文件?????????202??2020-07-28?02:42??pso_pathplanning\straightLine.m

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