我需要一段基于matlab的路径规划代码
时间: 2023-12-21 15:04:08 浏览: 25
以下是一个基于matlab的简单路径规划代码,使用了A*算法:
```matlab
%% Map Definition
% Create a 2D occupancy grid map
map = robotics.BinaryOccupancyGrid(10,10,5);
% Set the occupancy of each cell in the map
setOccupancy(map,[1 1; 1 2; 1 3; 1 4; 1 5; 1 6; 1 7; 1 8; 1 9; 1 10],'occupied');
setOccupancy(map,[2 2; 2 3; 2 4; 2 5; 2 6; 2 7; 2 8; 2 9; 2 10],'occupied');
setOccupancy(map,[3 3; 3 4; 3 5; 3 6; 3 7; 3 8; 3 9; 3 10],'occupied');
setOccupancy(map,[4 4; 4 5; 4 6; 4 7; 4 8; 4 9; 4 10],'occupied');
setOccupancy(map,[5 5; 5 6; 5 7; 5 8; 5 9; 5 10],'occupied');
setOccupancy(map,[6 6; 6 7; 6 8; 6 9; 6 10],'occupied');
setOccupancy(map,[7 7; 7 8; 7 9; 7 10],'occupied');
setOccupancy(map,[8 8; 8 9; 8 10],'occupied');
setOccupancy(map,[9 9; 9 10],'occupied');
setOccupancy(map,[10 10],'occupied');
%% Path Planning
% Define the start and goal points
start = [1.5, 1.5];
goal = [9.5, 9.5];
% Create a path planner object using the A* algorithm
planner = robotics.PRM(map);
% Set the number of nodes to add to the graph
planner.NumNodes = 100;
% Define the start and goal locations of the path
planner.StartLocation = start;
planner.EndLocation = goal;
% Compute the path
[pthObj, solnInfo] = findpath(planner, start, goal);
% Plot the path
show(map);
hold on;
plot(pthObj);
```
该代码创建了一个10x10的地图,并使用A*算法计算从起点到终点的路径。您可以根据需要更改地图大小、障碍物位置以及起点和终点坐标。