移动机器人速度平滑规划代码

移动机器人的速度平滑规划通常包括三个阶段：加速、匀速和减速。以下是一个简单的移动机器人速度平滑规划代码示例：

//加速阶段
function acceleration(currentVelocity, targetVelocity, accelerationRate, deltaTime){
    let deltaV = accelerationRate * deltaTime;
    let velocity = Math.min(currentVelocity + deltaV, targetVelocity);
    return velocity;
}

//匀速阶段
function constantSpeed(currentVelocity, targetVelocity){
    return targetVelocity;
}

//减速阶段
function deceleration(currentVelocity, targetVelocity, decelerationRate, deltaTime){
    let deltaV = decelerationRate * deltaTime;
    let velocity = Math.max(currentVelocity - deltaV, targetVelocity);
    return velocity;
}

//速度平滑规划
function velocityPlanning(currentVelocity, targetVelocity, accelerationRate, decelerationRate, deltaTime){
    let velocity = currentVelocity;
    let distance = targetVelocity - currentVelocity;

    if(distance > 0){
        //加速阶段
        velocity = acceleration(currentVelocity, targetVelocity, accelerationRate, deltaTime);
    }else if(distance < 0){
        //减速阶段
        velocity = deceleration(currentVelocity, targetVelocity, decelerationRate, deltaTime);
    }else{
        //匀速阶段
        velocity = constantSpeed(currentVelocity, targetVelocity);
    }

    return velocity;
}

//主程序
function main(){
    let currentVelocity = 0;
    let targetVelocity = 1; //m/s
    let accelerationRate = 0.1; //m/s^2
    let decelerationRate = 0.1; //m/s^2
    let deltaTime = 0.1; //s

    while(true){
        let velocity = velocityPlanning(currentVelocity, targetVelocity, accelerationRate, decelerationRate, deltaTime);

        //控制机器人运动，例如发送速度控制指令给电机控制器
        //...

        currentVelocity = velocity;
    }
}

这里的代码仅提供一个基本的框架，具体的加速、匀速和减速规划算法需要根据具体的应用场景进行选择和实现。