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RRT 理论:
抛X_rand,先得X_near,再得X_new
以上是算法流程图。
close all;
clear all;
% params for function [vertices, edges, path] = rrt(map, q_start, q_goal, k, delta_q, p)
% MAP
map = load('map.mat');
q_start = [80, 70];
q_goal = [707, 615];
% MAZE
% map = load('maze.mat');
% q_start = [206, 198];
% q_goal = [416, 612];
map = map.map;
k = 10000;
delta_q = 50;
p = 0.3;
% params for function [path_smooth] = smooth(map, path, vertices, delta)
delta = 5;
[vertices, edges, path] = rrt(map, q_start, q_goal, k, delta_q, p);
path_smooth = smooth(map, path, vertices, delta);
imshow(int32(1 - map), []);
title('RRT (Rapidly-Exploring Random Trees) - Smooth');
% imagesc(1 - map);
% colormap(gray);
hold on;
[edgesRowCount, ~] = size(edges);
for ii = 1 : edgesRowCount
plot(vertices(ii, 1), vertices(ii, 2), 'cyan*', 'linewidth', 1);
plot([vertices(edges(ii, 1), 1), vertices(edges(ii, 2), 1)], ...
[vertices(edges(ii, 1), 2), vertices(edges(ii, 2), 2)], ...
'b', 'LineWidth', 1);
end
plot(q_start(1), q_start(2), 'g*', 'linewidth', 1);
plot(q_goal(1), q_goal(2), 'r*', 'linewidth', 1);
[~, pathCount] = size(path);
for ii = 1 : pathCount - 1
%plot(vertices(ii, 1), vertices(ii, 2), 'cyan*', 'linewidth', 1);
plot([vertices(path(ii), 1), vertices(path(ii + 1), 1)], ...
[vertices(path(ii), 2), vertices(path(ii + 1), 2)], ...
'r', 'LineWidth', 1);
end
[~, pathCount] = size(path_smooth);
for ii = 1 : pathCount - 1
%plot(vertices(ii, 1), vertices(ii, 2), 'cyan*', 'linewidth', 1);
plot([vertices(path_smooth(ii), 1), vertices(path_smooth(ii + 1), 1)], ...
[vertices(path_smooth(ii), 2), vertices(path_smooth(ii + 1), 2)], ...
![img](https://img-blog.csdnimg.cn/img_convert/2a97e1d7e55e9aa29636f1354beb5c0e.png)
![img](https://img-blog.csdnimg.cn/img_convert/d322c38481eead34591a9e5da69fe568.png)
**既有适合小白学习的零基础资料,也有适合3年以上经验的小伙伴深入学习提升的进阶课程,涵盖了95%以上物联网嵌入式知识点,真正体系化!**
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*需要这些体系化资料的朋友,可以加我V获取:vip1024c (备注嵌入式)**
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