移动机器人速度规划c代码
时间: 2023-07-28 08:07:25 浏览: 51
以下是一个基于C语言的移动机器人速度规划代码示例:
```
#include <stdio.h>
#include <math.h>
//加速阶段
float acceleration(float currentVelocity, float targetVelocity, float accelerationRate, float deltaTime){
float deltaV = accelerationRate * deltaTime;
float velocity = fminf(currentVelocity + deltaV, targetVelocity);
return velocity;
}
//匀速阶段
float constantSpeed(float currentVelocity, float targetVelocity){
return targetVelocity;
}
//减速阶段
float deceleration(float currentVelocity, float targetVelocity, float decelerationRate, float deltaTime){
float deltaV = decelerationRate * deltaTime;
float velocity = fmaxf(currentVelocity - deltaV, targetVelocity);
return velocity;
}
//速度规划
float velocityPlanning(float currentVelocity, float targetVelocity, float accelerationRate, float decelerationRate, float deltaTime){
float velocity = currentVelocity;
float distance = targetVelocity - currentVelocity;
if(distance > 0){
//加速阶段
velocity = acceleration(currentVelocity, targetVelocity, accelerationRate, deltaTime);
}else if(distance < 0){
//减速阶段
velocity = deceleration(currentVelocity, targetVelocity, decelerationRate, deltaTime);
}else{
//匀速阶段
velocity = constantSpeed(currentVelocity, targetVelocity);
}
return velocity;
}
//主程序
int main(){
float currentVelocity = 0;
float targetVelocity = 1; //m/s
float accelerationRate = 0.1; //m/s^2
float decelerationRate = 0.1; //m/s^2
float deltaTime = 0.1; //s
while(1){
float velocity = velocityPlanning(currentVelocity, targetVelocity, accelerationRate, decelerationRate, deltaTime);
//控制机器人运动,例如发送速度控制指令给电机控制器
//...
currentVelocity = velocity;
}
return 0;
}
```
这里的代码仅提供一个基本的框架,具体的加速、匀速和减速规划算法需要根据具体的应用场景进行选择和实现。另外,需要注意的是,C语言不支持浮点数运算,需要使用float类型或者double类型进行计算。