在matlab中实现一个仿真任务，该任务实现基于角度优先的多机器人围捕，每个目标安排三个机器人围捕，共有五个机器人。设置好围捕标志，当目标被围捕后，目标停止运动，留下一个机器人看守，其余机器人继续围捕剩余目标。

以下是一个基于角度优先的多机器人围捕的matlab仿真任务的实现：

1. 首先，我们需要在matlab中创建一个模拟环境，包括机器人和目标。我们可以使用matlab Robotics System Toolbox中的Robot Simulator工具箱来创建一个简单的模拟环境。

2. 接下来，我们需要实现一个角度优先的多机器人围捕算法。该算法基于以下步骤：

- 所有机器人都移动到最近的目标的位置。

- 对于每个目标，选择一个机器人作为看守，其余机器人按照角度优先原则绕目标移动。

- 如果一个目标被围捕，停止该目标的移动，留下一个机器人看守，并将剩余的机器人分配到其他目标。

- 重复以上步骤，直到所有目标都被围捕。

3. 最后，我们可以使用matlab中的图形化界面来显示仿真结果，并进行可视化分析。

以下是一个可能的matlab代码实现（仅供参考）：

% 创建一个简单的模拟环境
robotRadius = 0.1;
robot1 = ExampleHelperRobotSimulator('simpleMap');
robot1.enableLaser(false);
robot1.setRobotSize(robotRadius);
robot2 = ExampleHelperRobotSimulator('simpleMap');
robot2.enableLaser(false);
robot2.setRobotSize(robotRadius);
robot3 = ExampleHelperRobotSimulator('simpleMap');
robot3.enableLaser(false);
robot3.setRobotSize(robotRadius);
robot4 = ExampleHelperRobotSimulator('simpleMap');
robot4.enableLaser(false);
robot4.setRobotSize(robotRadius);
robot5 = ExampleHelperRobotSimulator('simpleMap');
robot5.enableLaser(false);
robot5.setRobotSize(robotRadius);
target1 = ExampleHelperRobotSimulator('simpleMap', 'HasLaserSensor', false);
target1.setRobotSize(robotRadius);
target2 = ExampleHelperRobotSimulator('simpleMap', 'HasLaserSensor', false);
target2.setRobotSize(robotRadius);
target3 = ExampleHelperRobotSimulator('simpleMap', 'HasLaserSensor', false);
target3.setRobotSize(robotRadius);

% 初始化机器人和目标的位置和速度
robot1CurrentPose = robot1.getRobotPose();
robot1GoalPose = robot1CurrentPose;
robot1Speed = 0.2;
robot2CurrentPose = robot2.getRobotPose();
robot2GoalPose = robot2CurrentPose;
robot2Speed = 0.2;
robot3CurrentPose = robot3.getRobotPose();
robot3GoalPose = robot3CurrentPose;
robot3Speed = 0.2;
robot4CurrentPose = robot4.getRobotPose();
robot4GoalPose = robot4CurrentPose;
robot4Speed = 0.2;
robot5CurrentPose = robot5.getRobotPose();
robot5GoalPose = robot5CurrentPose;
robot5Speed = 0.2;
target1CurrentPose = target1.getRobotPose();
target1Speed = 0.1;
target2CurrentPose = target2.getRobotPose();
target2Speed = 0.1;
target3CurrentPose = target3.getRobotPose();
target3Speed = 0.1;
robots = {robot1, robot2, robot3, robot4, robot5};
targets = {target1, target2, target3};

% 开始仿真
while true
    % 移动机器人到最近的目标
    for i = 1:length(robots)
        distances = zeros(length(targets), 1);
        for j = 1:length(targets)
            distances(j) = norm(robots{i}.getRobotPose() - targets{j}.getRobotPose());
        end
        [minDist, minIndex] = min(distances);
        robots{i}.setRobotPose(robots{i}.getRobotPose() + robot1Speed * (targets{minIndex}.getRobotPose() - robots{i}.getRobotPose()) / minDist);
    end
    
    % 对于每个目标，选择一个机器人作为看守，其余机器人按照角度优先原则绕目标移动
    for i = 1:length(targets)
        distances = zeros(length(robots), 1);
        for j = 1:length(robots)
            distances(j) = norm(robots{j}.getRobotPose() - targets{i}.getRobotPose());
        end
        [sortedDistances, sortedIndices] = sort(distances);
        guardIndex = sortedIndices(1);
        guardPose = robots{guardIndex}.getRobotPose();
        for j = 2:length(sortedIndices)
            robotIndex = sortedIndices(j);
            robotPose = robots{robotIndex}.getRobotPose();
            angleDiff = atan2(robotPose(2) - guardPose(2), robotPose(1) - guardPose(1)) - atan2(targets{i}.getRobotPose(2) - guardPose(2), targets{i}.getRobotPose(1) - guardPose(1));
            if angleDiff > pi
                angleDiff = angleDiff - 2 * pi;
            elseif angleDiff < -pi
                angleDiff = angleDiff + 2 * pi;
            end
            if abs(angleDiff) > pi / 2
                robots{robotIndex}.setRobotPose(robotPose + robot1Speed * (guardPose - robotPose) / norm(guardPose - robotPose));
            else
                robots{robotIndex}.setRobotPose(robotPose + robot1Speed * (targets{i}.getRobotPose() - robotPose) / sortedDistances(j));
            end
        end
    end
    
    % 如果一个目标被围捕，停止该目标的移动，留下一个机器人看守，并将剩余的机器人分配到其他目标
    for i = 1:length(targets)
        if ~(targets{i}.UserData.isCaptured)
            distances = zeros(length(robots), 1);
            for j = 1:length(robots)
                distances(j) = norm(robots{j}.getRobotPose() - targets{i}.getRobotPose());
            end
            [minDist, minIndex] = min(distances);
            if minDist <= robotRadius
                targets{i}.UserData.isCaptured = true;
                robots{minIndex}.UserData.isGuarding = true;
                robots{minIndex}.UserData.guardingTarget = i;
                for j = 1:length(targets)
                    if j ~= i
                        distances = zeros(length(robots), 1);
                        for k = 1:length(robots)
                            distances(k) = norm(robots{k}.getRobotPose() - targets{j}.getRobotPose());
                        end
                        [sortedDistances, sortedIndices] = sort(distances);
                        for k = 1:length(sortedIndices)
                            robotIndex = sortedIndices(k);
                            if ~(robots{robotIndex}.UserData.isGuarding) && ~(robots{robotIndex}.UserData.isAssigned)
                                robots{robotIndex}.UserData.isAssigned = true;
                                robots{robotIndex}.UserData.assignedTarget = j;
                                break;
                            end
                        end
                    end
                end
            end
        end
    end
    
    % 如果所有目标都被围捕，结束仿真
    allCaptured = true;
    for i = 1:length(targets)
        if ~(targets{i}.UserData.isCaptured)
            allCaptured = false;
            break;
        end
    end
    if allCaptured
        break;
    end
    
    % 更新机器人和目标的位置和速度
    robot1CurrentPose = robot1.getRobotPose();
    robot2CurrentPose = robot2.getRobotPose();
    robot3CurrentPose = robot3.getRobotPose();
    robot4CurrentPose = robot4.getRobotPose();
    robot5CurrentPose = robot5.getRobotPose();
    target1CurrentPose = target1.getRobotPose();
    target2CurrentPose = target2.getRobotPose();
    target3CurrentPose = target3.getRobotPose();
    robot1GoalPose = robot1CurrentPose + robot1Speed * (robot1GoalPose - robot1CurrentPose) / norm(robot1GoalPose - robot1CurrentPose);
    robot2GoalPose = robot2CurrentPose + robot2Speed * (robot2GoalPose - robot2CurrentPose) / norm(robot2GoalPose - robot2CurrentPose);
    robot3GoalPose = robot3CurrentPose + robot3Speed * (robot3GoalPose - robot3CurrentPose) / norm(robot3GoalPose - robot3CurrentPose);
    robot4GoalPose = robot4CurrentPose + robot4Speed * (robot4GoalPose - robot4CurrentPose) / norm(robot4GoalPose - robot4CurrentPose);
    robot5GoalPose = robot5CurrentPose + robot5Speed * (robot5GoalPose - robot5CurrentPose) / norm(robot5GoalPose - robot5CurrentPose);
    target1CurrentPose = target1CurrentPose + target1Speed * ([0.5; 0.5] - target1CurrentPose) / norm([0.5; 0.5] - target1CurrentPose);
    target2CurrentPose = target2CurrentPose + target2Speed * ([0.5; -0.5] - target2CurrentPose) / norm([0.5; -0.5] - target2CurrentPose);
    target3CurrentPose = target3CurrentPose + target3Speed * ([-0.5; 0.5] - target3CurrentPose) / norm([-0.5; 0.5] - target3CurrentPose);
    robot1.setRobotPose(robot1GoalPose);
    robot2.setRobotPose(robot2GoalPose);
    robot3.setRobotPose(robot3GoalPose);
    robot4.setRobotPose(robot4GoalPose);
    robot5.setRobotPose(robot5GoalPose);
    target1.setRobotPose(target1CurrentPose);
    target2.setRobotPose(target2CurrentPose);
    target3.setRobotPose(target3CurrentPose);
    
    % 显示仿真结果
    figure(1);
    clf;
    hold on;
    xlim([-1, 1]);
    ylim([-1, 1]);
    for i = 1:length(robots)
        pose = robots{i}.getRobotPose();
        plot(pose(1), pose(2), 'bo');
        if robots{i}.UserData.isGuarding
            targetIndex = robots{i}.UserData.guardingTarget;
            plot(targets{targetIndex}.getRobotPose(1), targets{targetIndex}.getRobotPose(2), 'r*');
        elseif robots{i}.UserData.isAssigned
            targetIndex = robots{i}.UserData.assignedTarget;
            plot(targets{targetIndex}.getRobotPose(1), targets{targetIndex}.getRobotPose(2), 'gx');
        end
    end
    for i = 1:length(targets)
        if ~(targets{i}.UserData.isCaptured)
            pose = targets{i}.getRobotPose();
            plot(pose(1), pose(2), 'rs');
        end
    end
    hold off;
    drawnow;
end