matlab实现rrt算法
时间: 2023-05-24 19:04:06 浏览: 50
A:以下是一个基本的 Matlab 实现 RRT 算法的示例:
```matlab
function [path, nodes] = rrt(start, goal, map, max_iter,step_size)
% start: 1x2 vector representing start point coordinates [x,y]
% goal: 1x2 vector representing goal point coordinates [x,y]
% map: Nx4 matrix representing the obstacles in the environment, [x_left,y_bottom,width,height]
% max_iter: maximum number of iterations allowed
% step_size: step size for each node expansion
% Output:
% path: Mx2 matrix representing the waypoints of the path from start to goal
% nodes: Kx2 matrix representing the nodes visited by the algorithm
% Initialize variables
nodes = start;
num_obstacles = size(map, 1);
obstacles = zeros(num_obstacles, 4); % matrix for obstacle vertices
for i = 1:num_obstacles
obstacles(i,:) = [map(i,1), map(i,2), map(i,1) + map(i,3), map(i,2) + map(i,4)];
end
path_found = false;
iter = 0;
while ~path_found && iter < max_iter
% random configuration in the space
q_rand = [rand(1)*map(i,3) + map(i,1), rand(1)*map(i,4) + map(i,2)];
% find the nearest node
distances = pdist2(q_rand, nodes);
[~, nearest_node] = min(distances);
q_near = nodes(nearest_node,:);
% new node to be added has direction from q_near to q_rand
angle = atan2(q_rand(2)-q_near(2),q_rand(1)-q_near(1));
q_new = [q_near(1)+step_size*cos(angle), q_near(2)+step_size*sin(angle)];
% check if the new node has a collision with obstacles
collided = false;
for i = 1:num_obstacles
if q_new(1) > obstacles(i,1) && q_new(1) < obstacles(i,3) && ...
q_new(2) > obstacles(i,2) && q_new(2) < obstacles(i,4)
collided = true;
break;
end
end
if ~collided
nodes = [nodes; q_new];
% check if the goal is reached
distances_goal = pdist2(q_new, goal);
[~, nearest_goal] = min(distances_goal);
if nearest_goal == 1
path_found = true;
end
end
iter = iter + 1;
end
if path_found
% get path from start to goal
path = [goal];
node_index = size(nodes, 1);
while node_index > 1
current_node = nodes(node_index,:);
distances = pdist2(current_node, nodes);
[~, parent_node_index] = min(distances);
parent_node = nodes(parent_node_index,:);
path = [parent_node; path];
node_index = parent_node_index;
end
path = [start; path];
else
path = [];
end
end
```
以上代码只是基本的 RRT 算法示例,还有许多可以改进和优化的地方,例如路径平滑和避障等。建议先理解完 algorithm 之后再找相应的例子进行尝试和优化。