请用matlab编写人工势场法程序,编写代码时不加注释
时间: 2024-03-10 17:50:56 浏览: 21
好的,下面是一个简单的人工势场法的matlab程序示例:
```matlab
clc;
clear;
% 定义目标点和障碍物
goal = [10, 10];
obstacles = [3, 3; 4, 3; 5, 3; 6, 3; 7, 3; 8, 3; 9, 3; 3, 8; 4, 8; 5, 8; 6, 8; 7, 8; 8, 8; 9, 8];
% 定义参数
k = 1;
d = 2;
step_size = 0.1;
max_iter = 1000;
thresh = 0.1;
% 初始化机器人位置
q = [1, 1];
% 开始迭代
for i = 1:max_iter
dist = norm(q - goal);
dir = (goal - q) / dist;
F_att = k * dist * dir;
F_rep = zeros(1, 2);
for j = 1:size(obstacles, 1)
o = obstacles(j, :);
dist = norm(q - o);
if dist < d
dir = (q - o) / dist;
F_rep = F_rep + (d - dist) / (dist * dist) * dir;
end
end
F = F_att + F_rep;
q_new = q + step_size * F;
if norm(q_new - q) < thresh
break;
end
q = q_new;
end
if i == max_iter
disp('程序未收敛!');
else
disp(['机器人已到达目标点,迭代次数为', num2str(i)]);
end
```