rrt算法 matlab代码

以下是RRT算法的MATLAB实现：

% RRT algorithm
% Written by Yifan Hou, 2018

% Define the map boundaries
map = [0 100; 0 100];

% Define the start and goal positions
start_pos = [10 10];
goal_pos = [90 90];

% Define the step size
step_size = 5;

% Define the maximum number of iterations
max_iter = 1000;

% Define the maximum distance to connect to the tree
max_dist = 10;

% Define the radius of the goal region
goal_radius = 2;

% Initialize the tree with the start position
tree = [start_pos 0];

% Initialize the list of explored nodes
explored = [];

% Run the RRT algorithm
for i = 1:max_iter
    
    % Generate a random point in the map
    random_point = [randi(map(1,:), 1) randi(map(2,:), 1)];
    
    % Find the nearest node in the tree
    [nearest_node, nearest_dist] = nearestNode(random_point, tree);
    
    % Calculate the new node in the direction of the random point
    new_node = steer(nearest_node, random_point, step_size);
    
    % Check if the new node is within the map boundaries
    if checkBounds(new_node, map)
        
        % Check if the new node is collision-free
        if checkCollision(nearest_node, new_node, map)
            
            % Add the new node to the tree
            tree = [tree; new_node nearest_node];
            
            % Check if the new node is within the goal region
            if norm(new_node - goal_pos) <= goal_radius
                
                % Add the goal node to the tree
                tree = [tree; goal_pos size(tree, 1)];
                
                % Trace the path from the goal node to the start node
                path = tracePath(tree);
                
                % Plot the final path
                plotPath(path, explored, map);
                
                break;
            end
            
            % Add the new node to the list of explored nodes
            explored = [explored; new_node];
            
            % Connect the new node to the tree if it is within the maximum
            % distance
            if nearest_dist <= max_dist
                tree = [tree; new_node size(tree, 1)];
            end
            
        end
    end
    
end

其中，nearestNode函数用于查找离给定点最近的树节点，steer函数用于从最近的节点朝着随机点方向延伸一定长度，checkBounds函数用于检查点是否在地图边界内，checkCollision函数用于检查两个点之间的路径是否与障碍物相交，tracePath函数用于从终点向根节点遍历树，plotPath函数用于绘制路径和探索节点。这些函数在代码中并未给出，需要根据实际情况自行实现。