function?APRobot（）
%UNtitleD2?此處顯示有關此函數的摘要
%???此處顯示詳細說明
%???定義vrep與matlab連接的相關模塊
????disp（‘Program?started‘）;
????%?vrep=remApi（‘remoteApi‘‘extApi.h‘）;?%?using?the?header?（requires?a?compiler）
????vrep=remApi（‘remoteApi‘）;?%?using?the?prototype?file?（remoteApiProto.m）
????vrep.simxFinish（-1）;?%?just?in?case?close?all?opened?connections
????clientID=vrep.simxStart（‘127.0.0.1‘19997truetrue50005）;???
????[~MotorLeft]?=?vrep.simxGetobjectHandle（clientID‘leftmotor‘vrep.simx_opmode_blocking）;
????[~MotorRight]?=?vrep.simxGetobjectHandle（clientID‘rightmotor‘vrep.simx_opmode_blocking）;
%???五個超聲波傳感器，探測機器人左、左前、前、右前、右方向上的障礙物
????[~LeftSensingNoseHandle]?=?vrep.simxGetobjectHandle（clientID‘LeftSensing‘vrep.simx_opmode_blocking）;
????[~RightSensingNoseHandle]?=?vrep.simxGetobjectHandle（clientID‘RightSensing‘vrep.simx_opmode_blocking）;
????[~FrontSensingNoseHandle]?=?vrep.simxGetobjectHandle（clientID‘FrontSensing‘vrep.simx_opmode_blocking）;
????[~RightFrontSensingNoseHandle]?=?vrep.simxGetobjectHandle（clientID‘RightFrontSensing‘vrep.simx_opmode_blocking）;
????[~LeftfFrontSensingNoseHandle]?=?vrep.simxGetobjectHandle（clientID‘LeftFrontSensing‘vrep.simx_opmode_blocking）;
%???機器人與目標句柄??
????[~BubbleRob]?=?vrep.simxGetobjectHandle（clientID‘BubbleRob‘vrep.simx_opmode_blocking）;
????[~goalhandle]=vrep.simxGetobjectHandle（clientID‘goal‘vrep.simx_opmode_blocking）;%獲得目標句柄
????%minMaxSpeed?=?{50*pi/180300*pi/180};??%Min?and?max?speeds?for?each?motor
%???各部分模塊定義結束
????pathFound=false;?%?has?goal?been?reached
%???人工勢場法相關定義
????robotSpeed=[-4?-4];?%?arbitrary?units?
????distanceThreshold?=?1;%障礙物影響的距離
????k=100;?%?degree?of?calculating?potential?
????attractivePotentialScaling=100;?%?scaling?factor?for?attractive?potential
????repulsivePotentialScaling=1000;?%?scaling?factor?for?repulsive?potential
????minAttractivePotential=0.5;?%?minimum?attractive?potential?at?any?point?????
????
%???全局變量用作計算勢能用
????distanceFront?=?0;
????distanceLeft?=?0;
????distanceRight?=?0;
????distanceFrontLeft?=?0;
????distanceFrontRight?=?0;?
????distanceGoal?=?0;
????angleGoal?=?0;
????currentDirection=0;
????speednew?=?0;
????if?（clientID>-1）?
????????tic;
????????disp（‘Connected?to?remote?API?server‘）;
????????vrep.simxStartSimulation（clientIDvrep.simx_opmode_oneshot）;
????????vrep.simxSetJointTargetVelocity（clientIDMotorLeftrobotSpeed（1）vrep.simx_opmode_oneshot）;
????????vrep.simxSetJointTargetVelocity（clientIDMotorRightrobotSpeed（2）vrep.simx_opmode_oneshot）;
?????????
%???????獲取目標的位置
????????[returnCodeGoalPositionXYZ]=vrep.simxGetobjectPosition（clientIDgoalhandle-1vrep.simx_opmode_blocking）;%獲得目標的位置
????????if（returnCode==vrep.simx_return_ok）
????????????goal?=?GoalPositionXYZ（:1:2）;%所有行的第一列和第二列
????????????fprintf（“goal?is:（%2.3f%2.3f）\n“goal）;??????
????????else
????????????fprintf（“Invalid?Goal!?the?error?code?is:?%d\n“returnCode）;??????
????????end?

????????%while?toc<10?
??????

?屬性????????????大小?????日期????時間???名稱
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?????文件?????627121??2018-06-13?16:11??BubbleRob\20180607.ttt

?????文件?????625953??2018-06-05?13:32??BubbleRob\BubbleRob.ttt

?????文件??????12748??2018-06-13?11:06??BubbleRob\MATLAB_VREP_workspace\APRobot.m

?????文件???????7351??2018-06-07?20:49??BubbleRob\MATLAB_VREP_workspace\astart.m

?????文件????????557??2014-06-06?15:35??BubbleRob\MATLAB_VREP_workspace\distanceCost.m

?????文件????????792??2018-05-30?14:56??BubbleRob\MATLAB_VREP_workspace\feasiblePoint.m

?????文件?????251078??2014-06-06?15:35??BubbleRob\MATLAB_VREP_workspace\map1.bmp

?????文件?????251078??2018-06-05?09:40??BubbleRob\MATLAB_VREP_workspace\map2.bmp

?????文件?????251078??2014-06-06?15:35??BubbleRob\MATLAB_VREP_workspace\map3.bmp

?????文件?????251078??2014-06-06?15:35??BubbleRob\MATLAB_VREP_workspace\map4.bmp

?????文件?????251078??2014-06-06?15:35??BubbleRob\MATLAB_VREP_workspace\map5.bmp

?????文件????????848??2018-05-15?16:33??BubbleRob\MATLAB_VREP_workspace\matlab.mat

?????文件?????750054??2018-01-27?15:41??BubbleRob\MATLAB_VREP_workspace\my_map.bmp

?????文件???????5580??2018-06-04?21:33??BubbleRob\MATLAB_VREP_workspace\obstacle.m

?????文件???????1537??2018-05-31?11:00??BubbleRob\MATLAB_VREP_workspace\plotRobot.m

?????文件?????192524??2014-06-06?15:35??BubbleRob\MATLAB_VREP_workspace\potential.pdf

?????文件???????1089??2019-04-02?22:41??BubbleRob\MATLAB_VREP_workspace\readMe.txt

?????文件?????100875??2018-01-25?17:03??BubbleRob\MATLAB_VREP_workspace\remApi.m

?????文件??????70656??2018-01-25?17:03??BubbleRob\MATLAB_VREP_workspace\remoteApi.dll

?????文件??????35378??2018-01-25?17:03??BubbleRob\MATLAB_VREP_workspace\remoteApiProto.m

?????文件???????2716??2018-06-02?15:49??BubbleRob\MATLAB_VREP_workspace\simpleTest.m

?????文件???????9885??2018-06-04?21:43??BubbleRob\MATLAB_VREP_workspace\turn.m

?????文件???????1417??2018-06-12?16:05??BubbleRob\MATLAB_VREP_workspace\TurnSpeed.m

?????目錄??????????0??2019-04-02?22:29??BubbleRob\MATLAB_VREP_workspace

?????目錄??????????0??2019-04-02?22:29??BubbleRob

-----------?---------??----------?-----??----

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