1 简介
2 部分代码
clear; load parkingLotCostVal.mat % costVal width = 2; height = 4; plot(map,'Inflation','off'); hold on for i = 1:refpath.NumStates h = draw(refpath.States(i,:),width,height); drawnow(); pause(0.1); if i <refpath.NumStates delete(h); end end function h = draw(pos,width,height) x = pos(1); y = pos(2); cosT = cos(pos(3)); sinT = sin(pos(3)); V = [ cosT, sinT]; T = [-sinT, cosT]; plot(x,y,'.'); height1 = height; height2 = height; p1 = [x,y]+width*T+height1*V; p2 = [x,y]-width*T+height1*V; p3 = [x,y]+width*T-height2*V; p4 = [x,y]-width*T-height2*V; h = plot([p1(1),p2(1),p4(1),p3(1),p1(1)],[p1(2),p2(2),p4(2),p3(2),p1(2)],'k'); end
3 仿真结果
4 参考文献
[1]张猛. 自动泊车路径规划算法研究[D]. 太原科技大学.
[2]刘勇等. "基于NDT算法和Hybrid A*算法的无人船路径规划方法.".
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部分理论引用网络文献,若有侵权联系博主删除。