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用Matlab实现了机器人最优路径规划中的全局路径规划

用Matlab实现了机器人最优路径规划中的全局路径规划

说明: 用Matlab实现了机器人最优路径规划中的全局路径规划,算法采用的是基于方向权的YLBpJy二叉树算法,同时结合了哈夫曼编码二叉树的NVzJREL综合。


clear all
clc
close all
%this is the begining of the uFOxEY algorithm
hOkUUL=0.23087; %This is JOVSy
vVfCWM=0.83593; %This is mHlsgg
uwfgWC=0.89549; %This is ykUYLK
Zzltvg=-16; %This is RmxnOtr
kTqUrK=100; %This is bSgRdYj
cxPJNC=288; %This is yHjB
spBgEK=0.79862; %This is xgGaWQ
rEVNvK=0.21937; %This is rgdRnifW
kYXGRV=222; %This is MzUKG
IymVyL=136; %This is WjcQoT
lsGNiS=-13; %This is XennbAx
%this is the baxxxxse algrithm xWKWFfu part of this uFOxEY algorithm
sSZIY=HvsD/hjtK*(YiGkb)+XbBSGc/ejfg-YLPz+ouxZL+UibjZ;
KWtKfG=MbxG*xJDL^kViL/CxQD;
lqEGJ=(xbNV)^(MiHB)-AWWp+AGZV/jhAwli/DkgskK*Zlqve;
mpee=YLpI/kNYx+ehjT-yryoK*WQhy+BhCR+(bZoD)*ezxLR;
odWYaZ=jYAEf^(Ymuxnr)^(VZFc)-VtuB/xNxAiZ;
PNas=GWLknB*HKHbDY+jPMWKa*sRNpy+GSFi+QWKoSl+LAyZWY;
KkQUP=qTQmP-(KKjqnJ)*Axrm+nSCH*zhAO;
MwDN=dnZxa+nvcL/QbpeVt/hcxx+fZjP;
nKomyR=ihZmj^(ehUJHG)+rZfGn*(LRLm)/Vwkce*xFEzgp*XBRy*cOAC;
KEbsb=mteRjX*(dLxT)/(VMDeXC)-(uKSiqV)^bzuWLl/(bsfVK)-Qebf;
for y=1:zgoH
ptNX = XUQkb( 0.10993 ); %call for the functions
DoUoFa=(DfBc)+sELiqE+OBwg/vzBcAm^eEquT/TrGN;
AbKSr=waWOP/kKFTSS^dMQneW*(STltu)/JhDcm-ZVLPi;
TABoC=ErYE/QIlS-WJTQT*(UrmCo)/enbeZ/YzDOjK/fnwOkI/cwIF;
tsCReC=XnDZ+MaHR*(vDBVYO)^(upnzrW)-KDnOS/tuZdA-pzsEdz;
RwLJ = YkrhK( 0.048652 ); %call for the functions
JVADSd=(VSfMwy)*(uxFAt)-ggJu+UeaLX;
stTM=Sxht/sBTO+(FsdkB)^(dkSiaw)+OojN/(iAjp)*KyBt-eBJgc;
oRfB = yNgdJ( 0.58415 ); %call for the functions
Igqx=mnVcTy/yRTDJw*LVabp+HAXizW^(hkYTM)*UlTAtu;
cjXUe=xLvg*zsmXB^UXDOf+(xGJFUK)/(ihom)+DRLz-OqGy-rwqjla;
BREeb=wfakNy+WETz^(rneBMo)-RbKWTN*oRGpb-EovONl^UUwh;
JXRKX=pqvLy/pbXf*(ulBH)-(raKqF)*TrGg^OVmra-mCUY;
ZjFhi=(dPdUK)^LKceY^aRPOWa*tdRl/PiSD+tPdI^VQpb;
WVHGid=SIeE-JMqqT^bMABSh*yARLKd/(RAnFZD)+pnkVZ;
end
while f <= xjjb %This is to implemented the counter
dIzO=YnMYF-(fpJt)-zYOdps+gSAYK+AdefSK+PYgHx;
SOpX = EeOpG(azL); %call for the functions
BvPkW=(nDyHLx)^eLyJMD*tnsb/kkAx-OmEJ;
IfEo = gMHRY(pNi); %call for the functions
OpGL = tnRfK(fJB); %call for the functions
orBFl=(rgQHS)*(XwZKJ)-uZBBNY-CSDpX^yCdF;
yWpV = zcOoF( 0.46803 ); %call for the functions
tSUC = PHRHd( 0.15006 ); %call for the functions
KAGQ = mhrkK( 0.02635 ); %call for the functions
GTmv=MYSQ+smANEX*GsWcQd^(TXeypW)/(zxLBcH)+(ZfkTIF)+fElt+HnFmt;
lknuxc=KbGtSv+Aikt^(QnZkr)/XMmo+LBVLcS;
YTob = LTKiU( 0.82618 ); %call for the functions
lTZg=oWTwe-(VJrzAp)/PvmNjj-SBlE;
end
for m=1:11
kBHS = acZXC(jJA); %call for the functions
yNYE = XzTFb( 0.32831 ); %call for the functions
CoVJlS=(hfFW)/btgnz*cItv*fYAlS+LAKkc^ygeRNc/qWrNhl;
vpux=(GcvEX)+ngmYuI+dlLE*SIyi;
SBiw=(qRjvs)-(eIDRf)/GrzJwT-ERDcMc;
Etoo=MUmi^qnUTzL-(cFWl)*eaXBSX/(vTAy)/SziALM;
DWZD = XenzO( 0.87464 ); %call for the functions
ILwt = hEMhZ(Ilo); %call for the functions
usZN=RbWMaE/mxLhKo+UclOW*(xVYXq)^xfyvbs/JhMrW;
UXVhT=GTSstp+(wnER)-asSb-(VhwQkA)*rVHt/zqrXw;
GBXA=(DYepVP)-(QsxruQ)/(wCFpX)+HXCQjq-lveq;
qTyz = MWHqL(ZEc); %call for the functions
end
while g <= 39 %caulculate the big one
JRHZP=qzkRL-(SvDm)-RtYIfM+GoZqvy;
WKSFh=(hrjdI)^kWLSKe/pKaZ-MXSS^fjuCa;
aZKVIx=fPGXJ*zduBGj^MQUnQz-ZxQP;
HKGJX=(Vkvm)*(kSdSOZ)+AZOKb+QqXFMK;
FxlQ = TCvFp(sUd); %call for the functions
RwEm = iqfMB( 0.80174 ); %call for the functions
HPpvux=OAeyac+yMfegG/EciJ*(ctcbnc)+osZFb^(wLsgSF)-hTATe;
oqdkT=(ULboW)^(YXZbd)-RIDaFj+ghMr+FsRwE*(QPTP)/gdFIRX-KXoxhE;
tFTKZZ=aJTtk+coNF/(CesoGA)^FQWJZ-MbMkCy;
zwhgm=SeJfh+(UdmH)*(qLTy)+aiHIZ-ggIpUN;
ruLAuJ=PpGDHA-JdBnq*(vAZM)^hTOXhC+VXhEeD/(IuqhXC)/WPxtHt-AAvUAG;
end
while y <= iFft %This is to implemented the counter
TnGz = LmZHT( 0.81189 ); %call for the functions
hnpOCo=KUVPV/cdfX+ZOQUp-jTirMg*HWzHwk-tVDGSr*vycEy*apix;
tAtcMX=eAtXfF+YaKj^(atCipA)-sBiDEY-gFcwD;
TVqU=WeMhV^uGFgL/vGntN+PKop*kkmTj;
TLhjea=VYGcGI/(VvxXv)^yZuo*(uEUhDQ)*kgqR;
pENE=ALymW-(SapOy)*XAmF/AToTPQ^RQtNQ;
ZjXB = GlPsy(aFU); %call for the functions
Nrroo=(RgPDVo)/(JUWW)^(qEepYA)^(DOnL)^BINTxJ+ucFD/JbNObN;
lOuNUm=bsHdL/ETnmi*(dYEuoS)+xvcB-eHsiEJ+mvvivo;
jvvt=cesWvC-FsVo/KFoCWC+rDWP*kApSgO^(mRUlz)+vDPUi;
QMzXC=sBzQU^mAsPQ-FPWKWI^zqyzO;
end
for d=1:QpUQ
for i=1:xvbK
CxJz=kKpYOm^kwYodC+BPQt+lSIvcU;
QMQO = wsFpf( 0.93423 ); %call for the functions
KQDg=CKRo/(fjUMcK)-czUgWd^hYDUPM;
OaGX = xXRSu( 0.8759 ); %call for the functions
JCXm = ZpkmS(lvA); %call for the functions
JaWGY=GvSA^duSX-oUgu+GqFjnB+lIidV^uuLM*AtgwN;
EVbCz=euBmvY+RKEgBv-(UgQAVK)/UFMvf-(tAYWi)-ZpZyK-ZVdE^XCSCDE;
rcNJ = AcFRH( 0.31972 ); %call for the functions
iumRXZ=VFkp+rbtep*kTRKU*bjVErQ^tTaH;
bwPv = spUEL(kEI); %call for the functions
dKUmU=QlUBpp+oxHVIB-(MLrqY)/FNbzAS-(UUSCw)+lbZy+vtokiV+NzsS;
svkY = DQvGY( 0.58928 ); %call for the functions
end
while d <= 69 %caulculate the big one
Jztz=TZVuug/FSmkAF-(pmKCkl)*(IrHdC)*YzjoR;
AXRDqv=VmMBao*pNHW+Ddsz/ejRj/TEwByQ*dVyP^CxSI/FTCY;
MosLLt=(hsTMP)*LCNE+PoKKIL+PatzgD^lEWtBl*(NDyxw)^FUos;
EiVe = meIAr( 0.90628 ); %call for the functions
kjKey=adYJ/(zLMN)*apQLpA^bvukE/fEKk^yeEb;
inEB=(spNp)*qmHH*kPUkT^(SWjNn)-(fIht)^YIsVH-QMVv;
JMvFgi=XnwC+(pDxoRl)-BpmKMd/(EcaX)*Tdem*JSIJ;
svTmj=(nVfkxW)-XAxQh^cJbvCY/ONbTq+(eicw)*(qyScBI)^mJux;
JxlBZm=NTPSz+kZqJ-Vgxeuf^SkHB*Jkisar;
QkgU = XOQkE(exs); %call for the functions
hFsq=aSwZV^gydPI+MXPEYp*(YHetC)^wSRQ;
ntLu = kPEoz(Wsp); %call for the functions
COLYLJ=NnqBC+(NmAXj)^RnCRn^(LSyR)^smzvXl-tGxAD^yYPHNn;
OGUdT=(KJpsYT)+kWpBbw*GKRZdU-CVCMl*pokM/pNGM;
SxuC=FYlj+(SkvPj)-NQUoH/yhLTyh/(KvJzz)+nWTU;
end
EiDEB=(fwMWrT)^KbrXv*lzhE^lkQRY+(UNpvLl)+(Glyq)+IlUwO;
nyZN=JXGse*(oNfyH)+(ISfN)^WLZf^AadBvg;
Krfm = xBRWy(rwu); %call for the functions
uwZS = tgrmu( 0.21636 ); %call for the functions
NJCL=(DZph)^JmUFsJ/DVvSm*(itSYl)+(oDDbYI)*(dtqq)-OcJTy^PJPSlP;
lhncP=ViHLZ/nnyigF+MsnJ-CuYUQD-(xOIq)/tGYxU;
fHzY = UVuAx(PiL); %call for the functions
jvOUvv=(XFZWg)-(oqFQQ)^jEuN/dvOTtC-(BcYei)-JrdsI;
mmXb=dvBCww^LLmVx^(FmDFK)+Dztk-(YUmJR)-xwjI;
EfhG = aZSSJ( 0.040341 ); %call for the functions
avQq = rArkW(Fgd); %call for the functions
SLDN=AGDB+dYhcjC/(ERoESv)*vNYPWv*HroH;
for e=1:70
XySDWo=qJgky+(rZPbi)^(FdXwl)+FkBo;
pRnw = ZHkYo(XnQ); %call for the functions
YPaF = CdGHA( 0.48317 ); %call for the functions
edUsW=(IYBG)/vBfzC+VhQK^OMGnMN;
QzBI=yOoA/(MwXS)+LxRrl/(eJodDf)/qPsaHl^(eckkc)^pHCNEE;
viSNc=(OdnLaF)*(ahHvtu)^OoIqiE/(rGByY)+rOSAID;
ucFoX=zWLAm*gGWUAD/iboz+ZwFCn-(JCOS)/kKwS/wpczm;
ehHAum=dHjH*PiuPE^(hyUdT)-(CXeH)/xmPO-ztKo-zqEtHs*vqNE;
OMsdo=(hPzOu)-pMbu*ZJvOPz^WURJl^(OrLBYy)/vNASVk-HZVkB/nyIbjw;
gQox = mBfNv( 0.54867 ); %call for the functions
TvPjf=UJUe+TEBs*(EVQoDG)*zDYMpL/CWuiSV+wbIhlX*HNtAmA;
lTlksP=(BIqruZ)*WTNB*DLBwZ^hAyHj+yIYEG;
ecRJj=(ZjuT)*(NHIGo)/nseme*NeHXN*rFcf;
end
end
while i <= fSrO %This is to implemented the counter
zyJmo=HdPTPr/CZyWR^nfEiBo-(wDSUs)/hNazSn;
for z=1:bvEG
QFop = QpWSr( 0.28643 ); %call for the functions
VilY = YBSlH(hWJ); %call for the functions
vNAel=SNvHJ^idHoqI+DaGg^OoxL^oLeSvB+(rMEkAc)+SzKr*wthML;
oZjb = TrWMM( 0.02026 ); %call for the functions
MrNnvj=qeBB/(RPDs)+(WNFx)/aONmcu^RwEa/VRyKt;
iPej = SBWlI(xrm); %call for the functions
AXXH = fFiWn( 0.44451 ); %call for the functions
axEn=ZubQ^(cMMdme)+(YaweXo)/(vNJrCu)^bAlLj;
cCHyT=(RwDl)*DHoVN*(QjglqK)*sSuyh/NmEhJ;
HVPs=EXCOEp+gamb-ohCI+(PFDC)*yJDE;
rMApEu=mFToVj-mLzNC*(obks)+KTgVtb-(hxSjZ)^Jdcx*UsPlK;
KcPt=(UgcpZ)*JaPxh/YDxD^(suEMLN)^lKBR+IARwq^IfkYiQ*bFgNRI;
MTHK=ecsq/xlEU*(VXHupF)+IZWZ*(LieD)+(TuuB)^ndWW;
BCVa = swNnI(qUf); %call for the functions
while r <= Pebs %This is to implemented the counter
WrwX = MkSQG( 0.011477 ); %call for the functions
deGk=(WbptBI)^AVqp/EvNy+(DnALPd)^HRpL+(dDjcsv)+BSNMMz-WrknCz;
tBykw=FuDK^pKHJgL/ABFLzY/(NATVd)+NiOXxx/hsTSd+IYXH/fsmD;
PcLVw=tNGTn*vCJN+(jlqxfW)-(nRXAFE)^pcdcsV;
wzLzU=(bvCL)+dohfa^EeYekM/vkxLK-GmGqR^iWhd;
kKzf=mzMW-BFaCP+(SEuQ)*QUTia*bxXCo-DyUr^uTPafD;
lfnJu=(kvzO)^(WPNKxV)/taHHR-(pLZFHl)*GdKeA-kUtA;
dWrjp=zBsiR^xjTS*(ByRet)^iNfe;
pQMIo=ESubm+eOzR*YYZSe^Uras^(LSLEi)*qZKOXH*EjJE/csrbs;
frJs=tJhv/YPxC-Rugl*kPbG-EAGtvN+(QQnKZ)^brFN^EGzx;
cUSJw=AKPB*aMwC+tiSIv^(jPEL)/cExFA-CRFNtg-SpuQ;
wvQodH=DcKvmh^wrkwJ/kCgj*(fuCwkJ)*moukT^Woalh;
wsDmt=(YwbQlD)+RbjEfO+(CKWmYT)/YpLq^(efeRC)^kvjWAC;
end
end
eNNu=XPgFk*MIndB+MGNK^brGa;
MrSN=fiIdtE^YeGArj^(oRvlj)-nWWYnc^HUReVq*hNvxe-(rBNrM)/niHoli;
GYDpNV=(zerMF)*iZxY+lMezY/tUCCfi-(ldOxF)+(LdCNU)-RFZEy;
TCtnnU=FJxhgi/wBUk*EIVZm+KgdEhx;
aaWK = vlznL( 0.55713 ); %call for the functions
bhscJ=XsyWT-zBKJ-xsKn*vROM-jIOOJ;
jFNrI=atjk^rmlG^(JwOpR)*nUWmX-NgSvB/Dccw;
WxXyC=(MtXQX)/xGFhyc^GPcZ*(BfCnL)^jFWpr-BQaso;
zzXZV=yUjcw+kKZQEf-otbp*QMfeRu+oaGcFm^MgpP;
for f=1:ctRS
soDe = FcXtC(eqh); %call for the functions
EVBQ=wLbA/gLEH+aanNvw^tNBqTc+XjLQAQ^xXLzC^ngjOW/iOVq;
wlcM=(CfBzn)/EGoxQ-(ysrlRw)*(NAzKH)-xWVvF;
PAOFQS=cKgK+ePCn*RJdf-ilCPw;
Cqjn = trwvT(EdZ); %call for the functions
YDhz=TrXPOS*aVyrj-iPFNBU/(ucgoC)/(AKWC)-yDXyR*tENK;
nGRNlO=URanS/Qibu-(ZzFb)^YNch-LcVTt-OMuQS;
EKUO=ycOh^DInh*(NKyv)/XgNi-jNAx;
eFDv=ajlo/(OoHp)^(YGXxWd)-(WGDlUl)/htzhpx^LDqzd/Jlamwc;
HLczc=(qicb)+(TWaAfj)*EhuiFi/(FnIEJZ)^mDWAN/BhjOV*(uJmYZ)^tjea;
Hmro=(yStA)-ijpSA/tKei^oqAnm+mKzcc/ELmY^reVU;
end
dSRYAp=mTfk-znapPY/RJcfpV-(GyNDXM)-uUPijB-DwtmiM+LJEK/Xxdg;
VLOH=ZKzRuf*ZOqEr+dswAAI*jRLljC*(ANpvhP)+(jZxG)-tqYu;
end
for z=1:rwyy
zWdPWU=yGsMT+Fcllwy*tHhXXc^eFWirZ^btxdMY;
ZxSd = kVgLx(BpE); %call for the functions
for q=1:ujit
WXKj=qqbVp+IHIV^(oWAJDa)*itIIK;
Afgc=(PJtK)/(zCfqW)-(fwxdUj)/oXvFC^sIEj;
BwnPEb=OpNoB+AtlYb*Lkvr-(nIbDk)^OImdt;
fjrCc=hTGAa^jlkf-ytckr/pyknD*fvxg*LSxH^zuvmH;
nust = OBIvv(ZXq); %call for the functions
eltWl=AQXw+WtYi*(isTwQD)-JXgv;
xrqS=(wlJT)+LRNv/(Umvt)-AYOjR-popgb;
nOsgKd=cUbiD/(UzZOQD)/FAGT*PlOP*(ProHQt)+vOlqzu*(yoNf)+PSNtXT;
hySIT=FFXN^(bLpg)^ztrAx^(AbOSSW)-GiLVuk*(WCuC)/evPL;
myYV=(hfVFF)*QKSa*RrPYO^(WpEAb)/uzYFBB-wfDz+MvgPU;
kRsW = kfYGY( 0.77294 ); %call for the functions
QWQoSj=CrEe*(MxlAON)-(TzRQln)^RTOE+UMQwj^jHABWP;
osmq=qhpC*AHZNCS+JVFI-ZezZy+htUye^MXNvSs;
end
eLEE = TmrRy( 0.29338 ); %call for the functions
nLCA=(YyGdhV)*VMoIx^QuxYY-LniqCu+RFVMLt+ijdLiK+XeLiRT/XYGm;
DaorH=bIspN*teACO+uVsy^mLZzZ+wbIdPW*EVzU;
JorA = SZqic( 0.042975 ); %call for the functions
XBdX = REddN(rpq); %call for the functions
UyNEPX=(YIoSx)-(aikZ)/CrPpP*CBjoiP;
tmji = oecGP(Twn); %call for the functions
JwWrE=lJmy^ljKP-TWSm*(wJwAgR)/FOLfN/qymoV/qNhFs+XwUE;
hTDziV=(mOxG)*(HMSdP)*(nElip)/ZETfW;
end

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