不确定性感知轨迹规划：在行星探测车可通行性预测中运用不确定性量化与传播（Matlab代码实现）

  💥💥💞💞欢迎来到本博客❤️❤️💥💥

🏆博主优势：🌞🌞🌞博客内容尽量做到思维缜密，逻辑清晰，为了方便读者。

⛳️座右铭：行百里者，半于九十。

📋📋📋本文目录如下：🎁🎁🎁

目录

 ⛳️赠与读者

💥1 概述

📚2 运行结果

🎉3 参考文献

🌈4 Matlab代码、数据

---

 ⛳️赠与读者

👨‍💻做科研，涉及到一个深在的思想系统，需要科研者逻辑缜密，踏实认真，但是不能只是努力，很多时候借力比努力更重要，然后还要有仰望星空的创新点和启发点。当哲学课上老师问你什么是科学，什么是电的时候，不要觉得这些问题搞笑。哲学是科学之母，哲学就是追究终极问题，寻找那些不言自明只有小孩子会问的但是你却回答不出来的问题。建议读者按目录次序逐一浏览，免得骤然跌入幽暗的迷宫找不到来时的路，它不足为你揭示全部问题的答案，但若能让人胸中升起一朵朵疑云，也未尝不会酿成晚霞斑斓的别一番景致，万一它居然给你带来了一场精神世界的苦雨，那就借机洗刷一下原来存放在那儿的“躺平”上的尘埃吧。

     或许，雨过云收，神驰的天地更清朗.......🔎🔎🔎

💥1 概述

文献来源：

摘要： 在火星或火山区域等极端环境中，移动机器人已被用于科学任务中，或是作为未来载人任务的先驱。这种被称为行星探测车的机器人由经过太空级认证、抗辐射加固及运行频率较低的车载计算机控制，能够在充满挑战的地形上自主行驶。

📚2 运行结果

部分代码：

% from slip_prediction_model.m
sigma_s_phi = [0.00961128710775099,0.0106239598019471,0.0203052218853191,0.0106239598019471,0.0203052218853191,0.0128472435755202,0.0146622385530602,0.0360207902914439,0.0162519658840886,0.0141615543763722,0.0166695294616301,0.0176649524149010,0.0247349850936737,0.0156495313599257,0.0116277433237537,0.0134407145786203,0.0394627911614590,0.0467642701894844,0.0152154144429651,0.0166009666824581].';
sigma_s_theta = [0.00961128710775099,0.0102967876303133,0.00860689905919816,0.0128472435755202,0.0118067555977643,0.0151528245287258,0.0166695294616301,0.0120635602346677,0.0173012747282370,0.0134407145786203,0.0143520034126149,0.0192124488008403].';
sigma_b_phi = [1.98568604329893,2.28552781100857,1.03617980241653,2.28552781100857,1.03617980241653,1.57780385652935,0.998133969099071,2.92457787976586,2.57433715134187,0.822001225508675,3.04833992270113,2.00010745795995,3.44362290178198,2.27848802684792,0.670650493156454,2.46228116639014,2.22749462868304,4.64207300208640,1.40189883852222,1.32910569771833].';
sigma_b_theta = [1.98568604329893,0.876342626202211,0.837936890375580,1.57780385652935,1.15634622052923,0.880955537752452,3.04833992270113,1.15821656881976,0.915312488816495,2.46228116639014,1.93165892218188,1.10483699772647].';

% plot and interpolate
roll_range = -6:1:6;
pitch_range = -1:1:5;
plot_sigma_data(delta_r, roll, sigma_s_phi, '\it \phi \rm [\circ]', '\it{\sigma_{s_\phi}} \rm [-]', roll_range, 'phi_vs_sigma_s');
plot_sigma_data(delta_p, pitch, sigma_s_theta, '\it \theta \rm [\circ]', '\it{\sigma_{s_\theta}} \rm [-]', pitch_range, 'theta_vs_sigma_s');
plot_sigma_data(delta_r, roll, sigma_b_phi, '\it \phi \rm [\circ]', '\it{\sigma_{\beta_\phi}} \rm [\circ]', roll_range, 'phi_vs_sigma_beta');
plot_sigma_data(delta_p, pitch, sigma_b_theta, '\it \theta \rm [\circ]', '\it{\sigma_{\beta_\theta}} \rm [\circ]', pitch_range, 'theta_vs_sigma_beta');

function plot_sigma_data(data_x, data_y, data_z, label_y, label_z, angle_range, fig_name)
    
    delta_range = 0:5:30;

    fig = figure();
    fig.Position(3:4) = [750 400];

    scatter3(data_x, data_y, data_z, 75, 'filled', 'b');
    hold on;

    F = scatteredInterpolant(data_x, data_y, data_z);
    [xq,yq] = meshgrid(delta_range, angle_range);
    vq = F(xq, yq);
 

🎉3 参考文献

文章中一些内容引自网络，会注明出处或引用为参考文献，难免有未尽之处，如有不妥，请随时联系删除。

🌈4 Matlab代码、数据

资料获取，更多粉丝福利，MATLAB|Simulink|Python资源获取