帮我写一个voronoi图路径规划的matlab程序
时间: 2023-09-30 16:01:47 浏览: 54
好的,以下是一个简单的 Voronoi 图路径规划的 Matlab 程序:
```matlab
clc;
clear;
close all;
% 设定随机点个数和地图大小
num_points = 50;
map_size = 100;
% 生成随机点
points = rand(num_points, 2) * map_size;
% 计算 Voronoi 图
[vx, vy] = voronoi(points(:,1), points(:,2));
% 绘制 Voronoi 图和随机点
plot(points(:,1), points(:,2), 'b*');
hold on;
for i=1:length(vx)
plot(vx{i}, vy{i}, 'k');
end
axis([0 map_size 0 map_size]);
% 构建随机起点和终点
start = rand(1,2) * map_size;
goal = rand(1,2) * map_size;
% 寻找起点和终点所在的 Voronoi 区域
start_region = find_region(start, points, vx, vy);
goal_region = find_region(goal, points, vx, vy);
% 构建 Voronoi 图的邻接矩阵
adj_mat = build_adjacency_matrix(vx, vy);
% 使用 Dijkstra 算法进行最短路径规划
path = dijkstra(adj_mat, start_region, goal_region);
% 绘制最短路径
path_points = points(path,:);
plot(path_points(:,1), path_points(:,2), 'r', 'LineWidth', 2);
plot(start(1), start(2), 'go', 'MarkerSize', 10, 'LineWidth', 2);
plot(goal(1), goal(2), 'ro', 'MarkerSize', 10, 'LineWidth', 2);
% 定义函数 find_region,用于寻找某个点所在的 Voronoi 区域
function region = find_region(point, points, vx, vy)
region = 0;
min_dist = inf;
for i=1:length(vx)
x = vx{i};
y = vy{i};
if inpolygon(point(1), point(2), x, y)
dist = min(sqrt((points(i,1)-point(1))^2 + (points(i,2)-point(2))^2), ...
sqrt((points(i+1,1)-point(1))^2 + (points(i+1,2)-point(2))^2));
if dist < min_dist
min_dist = dist;
region = i;
end
end
end
end
% 定义函数 build_adjacency_matrix,用于构建 Voronoi 图的邻接矩阵
function adj_mat = build_adjacency_matrix(vx, vy)
num_regions = length(vx);
adj_mat = zeros(num_regions);
for i=1:num_regions
for j=i+1:num_regions
if ~isempty(polybool('intersection', vx{i}, vy{i}, vx{j}, vy{j}))
adj_mat(i,j) = 1;
adj_mat(j,i) = 1;
end
end
end
end
% 定义函数 dijkstra,用于 Dijkstra 算法进行最短路径规划
function path = dijkstra(adj_mat, start, goal)
num_regions = size(adj_mat, 1);
dist = inf(1, num_regions);
prev = zeros(1, num_regions);
q = 1:num_regions;
dist(start) = 0;
while ~isempty(q)
[~, i] = min(dist(q));
u = q(i);
q(i) = [];
if u == goal
break;
end
for v=find(adj_mat(u,:))
alt = dist(u) + norm([vx{u}(end)-vx{v}(end), vy{u}(end)-vy{v}(end)]);
if alt < dist(v)
dist(v) = alt;
prev(v) = u;
end
end
end
path = goal;
while prev(path(1)) ~= 0
path = [prev(path(1)), path];
end
end
```
程序首先生成随机点,然后使用这些随机点构建 Voronoi 图。接着,程序随机生成起点和终点,并通过 `find_region` 函数找到起点和终点所在的 Voronoi 区域。接着,程序使用 `build_adjacency_matrix` 函数构建 Voronoi 图的邻接矩阵,并使用 Dijkstra 算法进行最短路径规划。
最后,程序绘制了 Voronoi 图、随机点、起点、终点以及最短路径。
请注意,由于 Voronoi 图是基于随机点生成的,因此每次运行程序时,生成的 Voronoi 图和最短路径都可能不同。