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