function?Y=compute_angle（XXsumn）%Y是引力，斥力與x軸的角度向量X是起點坐標，Xsum是目標和障礙的坐標向量是（n+1）*2矩陣
??for?i=1:n+1%n是障礙數目
??????deltaXi=Xsum（i1）-X（1）
??????deltaYi=Xsum（i2）-X（2）
??????ri=sqrt（deltaXi^2+deltaYi^2）
??????if?deltaXi>0
??????????theta=asin（deltaXi/ri）
??????else
??????????theta=pi-asin（deltaXi/ri）
??????end
??????if?i==1%表示是目標
??????????angle=theta
??????else
??????????angle=pi+theta
??????end?????
??????Y（i）=angle%保存每個角度在Y向量里面，第一個元素是與目標的角度，后面都是與障礙的角度
??end
??????

?屬性????????????大小?????日期????時間???名稱
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?????文件?????843536??2006-09-13?14:20??single_robot_artificial_field\1.bmp

?????文件?????836184??2006-09-13?14:20??single_robot_artificial_field\2.bmp

?????文件????????562??2009-03-24?14:58??single_robot_artificial_field\compute_angle.asv

?????文件????????562??2009-03-24?15:04??single_robot_artificial_field\compute_angle.m

?????文件????????463??2009-03-24?17:03??single_robot_artificial_field\compute_Attract.asv

?????文件????????463??2009-03-24?17:08??single_robot_artificial_field\compute_Attract.m

?????文件???????1065??2006-09-13?14:20??single_robot_artificial_field\compute_repulsion.m

?????文件???????2959??2009-03-25?15:57??single_robot_artificial_field\main.m

?????文件???????7134??2009-03-25?15:59??single_robot_artificial_field\no3.fig

????..A.SH.??????5632??2009-04-06?20:53??single_robot_artificial_field\Thumbs.db

?????目錄??????????0??2018-04-03?19:54??single_robot_artificial_field

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??????????????1698560????????????????????11