DWA代码matlab

### 动态窗口方法(DWA)的MATLAB实现

动态窗口方法是一种用于移动机器人路径规划和避障的技术。下面是一个简化版的DWA算法在MATLAB中的实现例子：

function [v, w] = dwa_planner(current_pose, goal, laser_scan, robot_params)
    % Parameters setup based on robot's capabilities and environment constraints.
    max_speed = robot_params.max_speed;
    min_speed = robot_params.min_speed;
    max_yaw_rate = robot_params.max_yaw_rate;
    predict_time = 0.5; % Prediction time horizon
    
    % Define sampling range for linear velocity v_sample and angular velocity w_sample.
    dv = 0.1;
    dw = 0.1;
    
    v_samples = min_speed : dv : max_speed;
    w_samples = -max_yaw_rate : dw : max_yaw_rate;

    best_score = -Inf;
    [best_v, best_w] = deal(0);

    for v = v_samples
        for w = w_samples
            score = evaluate_trajectory(v, w, current_pose, goal, laser_scan, ...
                predict_time);
            
            if score > best_score
                best_score = score;
                best_v = v;
                best_w = w;
            end
        end
    end

    function score = evaluate_trajectory(v, w, pose, target, scan, dt)
        % Predict new position after applying control command (v,w).
        % Calculate trajectory safety and proximity to the goal as scores.
        
        % Dummy scoring logic here...
        score = rand(); % Replace with actual evaluation criteria
        
        % Ensure safe distance from obstacles detected by `scan`.
        % Prefer trajectories leading closer towards `target`.
    end
end

此代码片段展示了如何构建一个基本框架来评估不同速度组合下的轨迹，并从中挑选最优解作为输出控制指令[^1]。

值得注意的是，上述`evaluate_trajectory`函数内的评分机制需要依据具体应用场景定制开发，比如考虑障碍物检测、目标接近度等因素。对于更复杂的环境感知需求，则可能涉及到像信号处理层这样的高级特性，这可以借助专门工具包如SignalGraph来进行扩展支持[^2]。