【避障】模拟机器人智能避障（Matlab实现）

荧光Matlab

已于 2024-07-17 12:13:54 修改

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文章标签：机器人

于 2024-07-17 11:46:24 首次发布

本文链接：https://blog.csdn.net/Matlab88888/article/details/140490737

版权

“在代码的海洋里，有无尽的知识等待你去发现。我就是那艘领航的船，带你乘风破浪，驶向代码的彼岸。

💥💥💞💞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：🎁🎁🎁

💥1 概述

在机器人学和自动化领域，智能避障是机器人自主导航和安全操作的关键技术之一。模拟机器人智能避障涉及在虚拟环境中测试和验证机器人如何感知环境、识别障碍物，并规划安全路径绕过这些障碍物，以实现预定目标。这种模拟不仅可以加速算法的开发和优化，还可以在无需实际硬件的情况下评估机器人的性能和安全性。模拟机器人智能避障是推动机器人技术发展的重要环节。通过不断的算法创新和模拟技术的提升，我们正逐步迈向更加自主、智能和安全的机器人系统，它们能在各种环境中高效地执行任务，同时确保人和机器的安全。随着硬件性能的提升和软件工具的成熟，未来的研究将更加注重算法的实时性、适应性和智能化，以实现更广泛的应用场景。

📚2 运行结果

主函数部分代码：


target=[100 100];
lem=2;
obs=[50 50];



% agents system dynamics which accelaration is the only determination.
A = [0 1; 0 0];
B = [0 0; -1 -1];


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%




% Laplacian matrix
L=[3 -1 -1 -1;-1 3 -1 -1;-1 -1 3 -1;0 0 0 0];
% create system dynamic%number of agents is 4 which is inside eye()
Ac = kron(eye(4),A);
Bc = kron(L,(B));



%digitization
%%%%%%%%%%%%%%
Ad = eye(2*4)+Ac*0.1;
Bd = 0.1*Bc;
%%%%%%%%%%%%%%



% Initial Conditions
% the matrix that stores all the states of all 4 agents.
% positons of 4 agents are stored in x 1,3,5,7 respectively.
% velocity of 4 agents are stored in x 2,4,6,8 respectively.
x(1:8,:) = [0 0;5 0;60 5;0 3;30 50;2 2;20 20;1 1];
% Formation shape that agents are going to follow
D = [20 0;0 0;0 0;0 0;0 20;0 0;20 20;0 0];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% main loop
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%update all the states for leader and followers
%plot the results every (pause)secs
for i=1:800        %iteration that go through
    

    
%if there are any agent whose distance between obstacle and itself is less
%then 10, call the obstacle_avoidance function, else continuoue formation.
 if (((obs(1,1)-x(1,1))^2+(obs(1,2)-x(1,2))^2>200) && ((obs(1,1)-x(3,1))^2+(obs(1,2)-x(3,2))^2>200) && ((obs(1,1)-x(5,1))^2+(obs(1,2)-x(5,2))^2>200) && ((obs(1,1)-x(7,1))^2+(obs(1,2)-x(7,2))^2>200))
    
    
    
%for the leader to go to target
    dist=((target(1,1)-x(7,1))^2+(target(1,2)-x(7,2))^2)^0.5;
    cos=(target(1,1)-x(7,1))/dist;
    sin=(target(1,2)-x(7,2))/dist;
    x(8,:)=[lem*cos lem*sin];
%formation control   
 y(1:8,:) = Ad*x(1:8,:)+Bd*(x(1:8,:)-D);
 
 x1=y(1,1);
 y1=y(1,2);
 x2=y(3,1);
 y2=y(3,2);
 x3=y(5,1);
 y3=y(5,2);
 x4=y(7,1);
 y4=y(7,2);
 %update the states
 x(1:7,:)=y(1:7,:);