function?F=CheckIsBlocked（L?M?R?D）
%針對三條射線方向的與障礙物的距離，判定當前方向是受否阻，?受阻F=1???
sel?=10;
if?sel
????if?D>L?||?D>M?||?D>R
????????F=1;
????else
????????F=0;?
????end
else
	L?=L/D;
	M?=L/D;
	R?=L/D;????
	
????%距離已經經過單位化，線間夾角?30+30??比例關系嚴格按照等邊三角形設計，參數不容易推廣
????if?2==L?&&?2==R
????????if?M?>?3.4641?%?3.4641=2*sqrt（3）?
????????????F=0;
????????else
????????????F=1;?
????????end
????elseif?2>=L?&&?2>=R
????????F=1;?
????elseif?2>=L?&&?2????????T=1/sin（pi/3-asin（1/R））;
????????Mnew=2/cos（asin（1/R））;
????????if?T?????????????F=0;
????????else
????????????F=1;?????????
????????end
????elseif?2=R
????????T=1/sin（pi/3-asin（1/L））;
????????Mnew=2/cos（asin（1/L））;
????????if?T?????????????F=0;
????????else
????????????F=1;??????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????158??2011-12-26?17:50??程序說明，請先看我.txt
?????文件?????????709??2011-12-23?05:02??fuzzy4\CheckIsBlocked.asv
?????文件?????????939??2011-12-24?14:46??fuzzy4\CheckIsBlocked.m
?????文件?????????212??2011-12-20?01:09??fuzzy4\DistOfDot2Cirs.m
?????文件?????????210??2011-12-16?19:08??fuzzy4\DotLineDist.m
?????文件?????????141??2011-12-22?22:00??fuzzy4\DotRotWithAngel.m
?????文件?????????152??2011-12-24?15:46??fuzzy4\FuzzyTheData.m
?????文件????????5772??2011-12-22?22:02??fuzzy4\GetMinDistance.asv
?????文件????????5175??2011-12-22?23:18??fuzzy4\GetMinDistance.m
?????文件?????????304??2011-12-23?05:02??fuzzy4\GetNewLineAngle.asv
?????文件?????????304??2011-12-23?05:05??fuzzy4\GetNewLineAngle.m
?????文件?????????546??2011-12-22?16:57??fuzzy4\GetNewLineKBF.asv
?????文件?????????651??2011-12-23?10:05??fuzzy4\GetNewLineKBF.m
?????文件?????????772??2011-12-25?16:48??fuzzy4\GetOutBlocked.asv
?????文件?????????794??2011-12-25?16:53??fuzzy4\GetOutBlocked.m
?????文件?????????872??2011-12-20?17:21??fuzzy4\GetPosOutBarCir.asv
?????文件????????1184??2011-12-24?18:31??fuzzy4\GetPosOutBarCir.m
?????文件????????1868??2011-12-22?21:47??fuzzy4\GetPosWithAngelAndDistance.asv
?????文件????????1864??2011-12-22?21:50??fuzzy4\GetPosWithAngelAndDistance.m
?????文件?????????239??2011-12-22?18:52??fuzzy4\GetTri.asv
?????文件????????5052??2011-12-22?16:27??fuzzy4\GetTriDistance.asv
?????文件????????5106??2011-12-22?16:28??fuzzy4\GetTriDistance.m
?????文件????????1586??2011-12-24?14:36??fuzzy4\GetTriMinDistWithGoalPos.m
?????文件????????1696??2011-12-23?10:49??fuzzy4\lillterC.fis
?????文件?????????467??2011-12-22?17:05??fuzzy4\linegram.m
?????文件????????7669??2011-12-25?16:38??fuzzy4\One_Cir_One_Area_fuzzy.asv
?????文件????????7900??2011-12-26?18:19??fuzzy4\One_Cir_One_Area_fuzzy.m
?????文件?????????174??2011-12-19?14:22??fuzzy4\PlotCir.m
?????文件?????????219??2011-12-20?00:56??fuzzy4\TwoDotDist.asv
?????文件?????????222??2011-12-19?16:24??fuzzy4\TwoDotDist.m