MATLAB Code of Artificial Potencial Field Method for Robot Path Planning 人工势场法 局部极小问题

APF_Code

download

模拟退火法处理局部极小问题源代码

MATLAB Code of Artificial Potencial Field Method for Robot Path Planning

Authors: Xin Li

Email: lixin850224@163.com

Laboratory of Underwater Vehicles and Intelligent Systems

Shanghai Maritime University

clear all
%设定区域范围
area = [-2 12 -2 12];
%计算程序运行时间
%tic; 
startPoint=[0 0];  %起点位置
finalPoint=[10,10]; %目标位置
Katt=5; %计算引力需要的增益系数
Krep=15; %计算斥力的增益系数
obstacleR=0.5; %障碍物半径
influenceDistance=2; %障碍影响距离
stepSize=0.1; %步长
purposeDistance=stepSize; 
counter=1000; %循环迭代次数
...
...