【无人机二维路径规划】基于dijkstra算法实现无人机农田农药喷洒路径规划附matlab代码

1 简介

2 部分代码

function  rawRoutes=UAV3(amount)
%% 
%无人机路径规划主程序，主要调用addPatch2Line和routesPlanning两个子程序，
%addPatch2Line进行网格划分，考虑障碍物，依纵向以线条为单位
%routesPlanning
%
clc
close all
%% name space
%   MAXliquid         药箱最大容量
%   MAXbattery       电池最大容量
%   liquidState         药箱状态
%   batteryState      电池状态
%   idleSpeed          非作业时飞行速度
%   operationSpeed   作业时飞行速度
%   liquidPerOD         单位距离的药液消耗量
%   batteryPerOD       单位距离的电池消耗量
%%
global origin OW OD MAXliquid MAXbattery LineNum
global idleSpeed operationSpeed liquidPerOD batteryPerOD;
origin=[-1,0];
OW = 0.02;
OD = 0.02;
LineNum=1;
MAXliquid = 3;
MAXbattery =3;
idleSpeed = 0.3;
operationSpeed = 0.2;
liquidPerOD = OD*1;
batteryPerOD = OD*1;
fluctuation=0.2;
if nargin < 1
    amount =4;
end
%% 绘制地图
Lines = [];
fill([-0.1 0.1 0.1 -0.1 ]*0.2-0.98,[0.2 0.2 0 0]*0.2,'black');
%顺时针输入区域的横坐标和纵坐标
boundary=[0.2 0.5 0.6 0.1;0.7 0.8 0.3 0.4];
barrier=[0.4 0.5 0.5 0.4;0.5 0.5 0.4 0.4];
Lines = addPatch2Line(boundary,barrier,Lines);
boundary=[-0.8 -0.7 -0.3 -0.2 -0.5;0.25  0.7 0.6 0.3 0.2];
Lines = addPatch2Line(boundary,Lines);
%xv=[0.8 0.95 0.85 0.7];
%yv=[0.8 0.7 0.6 0.7];
%gridPoints = addPatch(xv,yv,gridPoints);
% disp('请按任意键开始运行...')
% pause;
% %% 规划路径
% matrixRoutes = routesPlanning(gridPoints,amount)
% matrixRoutes = reshape(matrixRoutes,prod(size(matrixRoutes)),1);
% minDis=inf;
% for ii= 1:length(matrixRoutes)
%     if ~isempty(matrixRoutes{ii})
%         rawRoutes{ii}=matrixRoutes{ii};
%     end
% end
% len = length(rawRoutes);
% C=ceil(len/amount);
% F=floor(len/amount);
% for ii=1:amount
%     if ii<=len-F*amount
%         Numbering{ii}=(ii-1)*C+1:ii*C;
%     else
%         S=(len-F*amount)*C+(ii-1-(len-F*amount))*F;
%         Numbering{ii}=S+1:S+F;
%     end
% end
% %% 结果显示
% hold on
% FPS=0;
% for i=1:C
%     title(['第' num2str(i) '轮飞行']);
%     len=0;
%     for j=1:amount
%         Vj=Numbering{j};
%         if length(Vj)>=i &&len<size(rawRoutes{Vj(i)},1)
%             len =size(rawRoutes{Vj(i)},1);
%         end
%     end
%     for k=1:len
%         FPS=FPS+1;
%         %disp(['FPS:' num2str(FPS)])
%         for j=1:amount
%             Vj=Numbering{j};
%             if length(Vj)>=i
%                 currentRoute = rawRoutes{Vj(i)};
%             else
%                 continue;
%             end
%             num = ceil(size(currentRoute,1)/len*k);
%             if num < 1 || num > size(currentRoute,1)
%                 continue;
%             elseif num==1
%                 plot(currentRoute(2,1),currentRoute(2,2),'ro','LineWidth',2);
%                 plot(currentRoute(1:2,1),currentRoute(1:2,2),'b','LineWidth',1.5);
%                 continue;
%             elseif num+1 < size(currentRoute,1)
%                 plot(currentRoute(num:num+1,1),currentRoute(num:num+1,2),'-b');
%             else
%                 plot(currentRoute(end-1:end,1),currentRoute(end-1:end,2),'y','LineWidth',1.5);
%                 plot(currentRoute(end-1,1),currentRoute(end-1,2),'rx','LineWidth',3);
%                 continue;
%                 %pause(0.2);
%             end
%             x0=currentRoute(num,1);
%             y0=currentRoute(num,2);
%             rgbj=j/amount;
%             fill([x0-OW/2 x0+OW/2 x0+OW/2 x0-OW/2]+fluctuation*0.2*OW,[y0+OD/2 y0+OD/2 y0-OD/2 y0-OD/2]...
%                 +rand*fluctuation*OD,[rgbj,rgbj,0],'edgealpha',0)
%         end
%         getframe;
%         %m(FPS)=getframe;
%     end
%     pause(1);
% end

3 仿真结果

4 参考文献

[1]潘峥嵘, 陈晓宇, 郭凯,等. 基于电子地图和Dijkstra算法路径规划的实现[J]. 测绘科学, 2010, 35(4):3.​

博主简介：擅长智能优化算法、神经网络预测、信号处理、元胞自动机、图像处理、路径规划、无人机等多种领域的Matlab仿真，相关matlab代码问题可私信交流。

部分理论引用网络文献，若有侵权联系博主删除。