机械臂RRT路径规划matlab

以下是一个简单的机械臂RRT路径规划的MATLAB代码示例：

function path = rrtPathPlanning(start, goal, obstacles, step_size, max_iterations)
    tree = Node(start);
    
    for iter = 1:max_iterations
        if rand() < 0.5
            random_config = rand(size(start)) * 2 * pi - pi;  % 随机生成关节配置
        else
            random_config = goal;  % 以目标配置为随机点
        end
        
        nearest_node = nearestNeighbor(tree, random_config);  % 寻找最近的节点
        new_config = stepFromTo(nearest_node.configuration, random_config, step_size);  % 在最近节点和随机点之间前进一步
        
        if isValidConfiguration(new_config, obstacles)  % 检查新配置是否有效
            new_node = Node(new_config, nearest_node);
            tree = [tree new_node];  % 将新节点添加到树中
            
            if norm(new_config - goal) < step_size  % 如果新配置接近目标配置
                path = getPath(tree, new_node);  % 获取路径
                return;
            end
        end
    end
    
    path = [];  % 无法找到路径
end

function nearest_node = nearestNeighbor(tree, config)
    distances = arrayfun(@(node) norm(node.configuration - config), tree);  % 计算每个节点与给定配置的距离
    [~, index] = min(distances);  % 找到最小距离的节点索引
    nearest_node = tree(index);
end

function new_config = stepFromTo(start_config, end_config, step_size)
    direction = end_config - start_config;
    distance = norm(direction);
    if distance <= step_size
        new_config = end_config;
    else
        unit_direction = direction / distance;
        new_config = start_config + step_size * unit_direction;
    end
end

function valid = isValidConfiguration(config, obstacles)
    % 检查配置是否与障碍物发生碰撞
    % 返回true表示有效，false表示无效
end

function path = getPath(tree, end_node)
    path = [];
    current_node = end_node;
    while ~isempty(current_node)
        path = [current_node.configuration; path];
        current_node = current_node.parent;
    end
end

classdef Node
    properties
        configuration  % 关节配置
        parent  % 父节点
    end
    
    methods
        function obj = Node(config, parent)
            obj.configuration = config;
            obj.parent = parent;
        end
    end
end

以上代码是一个简单的使用RRT算法进行机械臂路径规划的示例。你可以根据实际情况进行修改和扩展，例如添加适当的碰撞检测和路径优化方法。