滚动在线RRT算法matlab

以下是一个简单的Matlab实现滚动在线RRT算法的示例代码：

function [path,tree] = rolling_rrt(start,goal,obstacles,max_iter,delta,q,step_size)

% start: 起点，格式为[x,y]
% goal: 终点，格式为[x,y]
% obstacles: 障碍物，格式为x-y-z三维矩阵，其中x、y为障碍物的位置坐标，z为障碍物半径
% max_iter: 迭代次数
% delta: 随机采样点生成概率
% q: 路径连接概率
% step_size: 步长

% path: 找到的路径，格式为[x1,y1;x2,y2;...;xn,yn]
% tree: RRT树，格式为x-y-z三维矩阵，其中x、y为节点的位置坐标，z为节点的父节点序号

% 初始化RRT树
tree = [start,0];
n_nodes = 1;

for i = 1:max_iter
    % 随机采样
    if rand < delta
        sample = goal;
    else
        sample = [rand*10,rand*10];
    end
    
    % 查找最近节点
    min_dist = Inf;
    min_node = [];
    for j = 1:n_nodes
        dist = norm(tree(j,1:2)-sample);
        if dist < min_dist
            min_dist = dist;
            min_node = j;
        end
    end
    
    % 扩展节点
    new_node = tree(min_node,1:2) + step_size*(sample-tree(min_node,1:2))/min_dist;
    if ~check_collision(new_node,obstacles)
        % 查找最近邻节点
        min_dist = Inf;
        min_index = [];
        for j = 1:n_nodes
            if j == min_node
                continue;
            end
            dist = norm(tree(j,1:2)-new_node);
            if dist < min_dist
                min_dist = dist;
                min_index = j;
            end
        end
        
        % 连接路径
        if rand < q
            if ~check_collision(new_node,obstacles)
                tree = [tree;new_node,min_node];
                n_nodes = n_nodes + 1;
                if min_index ~= []
                    tree(n_nodes,3) = min_index;
                end
                if norm(new_node-goal) < step_size
                    break;
                end
            end
        end
    end
end

% 从终点回溯路径
path = goal;
node = n_nodes;
while node ~= 1
    path = [tree(node,1:2);path];
    node = tree(node,3);
end
path = [start;path];
end

function collision = check_collision(point,obstacles)
% 检查是否碰撞
collision = false;
for i = 1:size(obstacles,1)
    if norm(point-obstacles(i,1:2)) < obstacles(i,3)
        collision = true;
        break;
    end
end
end

这是一个简单的示例，仅用于演示RRT算法的基本思想。实际使用时需要根据具体问题进行修改和优化。