💥1 概述
随着信息时代的发展,无人车的功能日渐丰富,在物流运输、室内清洁与安防巡检等领域发挥重要作用。特别是在安防巡检领域,无人车可替代人工巡检,并有效的节省人力资源,提高巡检的安全性。
📚2 运行结果
部分代码：
clear all; close all; x = 0:0.2:0.2*(31-1); y = 0:0.2:0.2*(100-1); % goal point % threat obstacle for iter = 1 : 31 for iter_j = 1 : 99 cost(iter,iter_j) = (0.5*cos(x(iter))+0.6)*exp(-(y(iter_j)/y(iter_j+1))); end end figure(2) surf(y(1:99),x,cost); % shading interp; xlabel('distance (meter)') ylabel('\theta (rad)') zlabel('cost') % agent for iter = 1 : 31 for iter_j = 1 : 99 cost(iter,iter_j) = 0.3*(0.5*cos(x(iter))+0.6)*exp(-(y(iter_j))); end end figure(3) surf(y(1:99),x,cost); % shading interp; xlabel('distance (meter)') ylabel('\theta (rad)') zlabel('cost') % swarm for iter = 1 : 31 for iter_j = 1 : 99 cost_goal(iter,iter_j) = 1-exp(-(y(iter_j))/y(iter_j+1)); end end x = 0:0.2:0.2*(31-1); y = 0:0.2:0.2*(100-1); figure(4) surf(y(1:99),x,cost_goal); % shading interp; xlabel('distance (meter)') ylabel('\theta (radian)') zlabel('cost') clear all; close all; x = 0:0.2:0.2*(31-1); y = 0:0.2:0.2*(100-1); % goal point % threat obstacle for iter = 1 : 31 for iter_j = 1 : 99 cost(iter,iter_j) = (0.5*cos(x(iter))+0.6)*exp(-(y(iter_j)/y(iter_j+1))); end end figure(2) surf(y(1:99),x,cost); % shading interp; xlabel('distance (meter)') ylabel('\theta (rad)') zlabel('cost') % agent for iter = 1 : 31 for iter_j = 1 : 99 cost(iter,iter_j) = 0.3*(0.5*cos(x(iter))+0.6)*exp(-(y(iter_j))); end end figure(3) surf(y(1:99),x,cost); % shading interp; xlabel('distance (meter)') ylabel('\theta (rad)') zlabel('cost') % swarm for iter = 1 : 31 for iter_j = 1 : 99 cost_goal(iter,iter_j) = 1-exp(-(y(iter_j))/y(iter_j+1)); end end x = 0:0.2:0.2*(31-1); y = 0:0.2:0.2*(100-1); figure(4) surf(y(1:99),x,cost_goal); % shading interp; xlabel('distance (meter)') ylabel('\theta (radian)') zlabel('cost')
🎉3 参考文献
部分理论来源于网络，如有侵权请联系删除。
[1]王桢发. 无人车巡检路径规划研究[D].南京邮电大学,2022.DOI:10.27251/d.cnki.gnjdc.2022.000481.
