人工势场法matlab程序梳理
时间: 2023-07-29 20:11:24 浏览: 41
人工势场法是一种路径规划算法,通过建立一个势场模型来避免机器人与障碍物的碰撞,从而实现路径规划。下面是人工势场法的 MATLAB 程序梳理:
1. 定义机器人起点和目标点的坐标。
2. 定义障碍物的位置和大小。
3. 定义势场模型,包括吸引势和斥力势。
4. 通过计算机器人所处位置的势能,确定机器人的运动方向和速度。
5. 将机器人移动到新的位置,并继续计算势能,直到机器人到达目标点或者无法继续移动。
具体实现步骤如下:
1. 定义机器人起点和目标点的坐标:
```matlab
start_point = [0,0];
goal_point = [5,5];
```
2. 定义障碍物的位置和大小:
```matlab
obstacle1 = [2,3];
obstacle1_size = 1;
obstacle2 = [4,4];
obstacle2_size = 0.5;
```
3. 定义势场模型,包括吸引势和斥力势:
```matlab
attractive_force = @(q) norm(q - goal_point);
repulsive_force = @(q) sum(1./norm(q - obstacle1).^2 + 1./norm(q - obstacle2).^2);
```
4. 通过计算机器人所处位置的势能,确定机器人的运动方向和速度:
```matlab
robot_pos = start_point;
robot_speed = [0,0];
while norm(robot_pos - goal_point) > 0.1
attractive_force_value = attractive_force(robot_pos);
repulsive_force_value = repulsive_force(robot_pos);
total_force = attractive_force_value - repulsive_force_value;
robot_speed = robot_speed + total_force;
robot_speed = robot_speed/norm(robot_speed);
robot_pos = robot_pos + robot_speed * 0.1;
end
```
5. 将机器人移动到新的位置,并继续计算势能,直到机器人到达目标点或者无法继续移动:
```matlab
plot(start_point(1),start_point(2),'bo');
hold on;
plot(goal_point(1),goal_point(2),'go');
rectangle('Position',[obstacle1(1)-obstacle1_size/2,obstacle1(2)-obstacle1_size/2,obstacle1_size,obstacle1_size],'Curvature',[1,1],'FaceColor','r');
rectangle('Position',[obstacle2(1)-obstacle2_size/2,obstacle2(2)-obstacle2_size/2,obstacle2_size,obstacle2_size],'Curvature',[1,1],'FaceColor','r');
while norm(robot_pos - goal_point) > 0.1
attractive_force_value = attractive_force(robot_pos);
repulsive_force_value = repulsive_force(robot_pos);
total_force = attractive_force_value - repulsive_force_value;
robot_speed = robot_speed + total_force;
robot_speed = robot_speed/norm(robot_speed);
robot_pos = robot_pos + robot_speed * 0.1;
plot(robot_pos(1),robot_pos(2),'bo');
end
plot(robot_pos(1),robot_pos(2),'go');
```