【路径规划】使用神经网络进行预测路径预测（Matlab实现）

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📋📋📋本文目录如下：🎁🎁🎁

目录

💥1 概述

📚2 运行结果

🎉3 参考文献

🌈4 Matlab代码实现

💥1 概述

路径预测是许多领域中的一项关键任务，包括自动驾驶、机器人导航、无人机控制、物流和交通规划等。随着人工智能技术的进步，尤其是深度学习的发展，神经网络已成为解决路径预测问题的强大工具。神经网络，特别是深度神经网络，能够从大量历史数据中学习复杂的模式和关联，从而提供高精度的预测结果。在神经网络中，路径预测通常涉及到时间序列预测的问题，因此LSTM和GRU（门控循环单元）这类具有记忆能力的网络架构特别受欢迎。这些模型能够捕捉到数据中的长期依赖关系，这对于预测未来路径至关重要。此外，注意力机制（Attention Mechanism）也被集成到模型中，以帮助网络聚焦于对预测最有价值的信息片段。

📚2 运行结果

部分代码：

%%
%receive the user input for the measurement file
clear all;close all; %#ok<CLALL>
[measurement_file, measurement_file_path] = uigetfile({'*.csv'},'Measurement File Selector');
filename = strcat(measurement_file_path,measurement_file); 


[ACCELEROMETERXms,ACCELEROMETERYms,ACCELEROMETERZms,GRAVITYXms,GRAVITYYms,GRAVITYZms,MAGNETICFIELDXT,MAGNETICFIELDYT,...
    MAGNETICFIELDZT,ORIENTATIONZazimuth,ORIENTATIONXpitch,ORIENTATIONYroll,LOCATIONLatitude,LOCATIONLongitude,LOCATIONAltitudem,...
    LOCATIONAltitudegooglem,LOCATIONSpeedKmh,LOCATIONAccuracym,LOCATIONORIENTATION,Satellitesinrange,Timesincestartinms,...
    YYYYMODDHHMISS_SSS] = importfile(filename);
%%
%receive user inputs for Sample Time and Prediction Time
prompt = {'Sample Time(s):','Prediction Time(s):','Make Live Plot:(0 or 1):','File Name:'};
dlg_title = 'Input Parameters';
num_lines = [1 40];

if(exist('defaultans','var'))
    %do nothing
else
    defaultans = {'0.1','3','0','TestData.mat'};
end

answer = inputdlg(prompt,dlg_title,num_lines,defaultans,'on');

if(~isempty(answer))
    % configuration data
    sample_time = str2num(answer{1});%#ok<*ST2NM>
    prediction_time = str2num(answer{2});  
    make_live_plot = str2num(answer{3});
    file_name = answer{4};
    defaultans={answer{1},answer{2},answer{3},answer{4}};
end

%find orientation
orientation_temp = null(1);
for(i=1:1:length(LOCATIONORIENTATION))
    orientation_temp = [orientation_temp;str2double(LOCATIONORIENTATION{i})]; %#ok<*AGROW>
end

indices = find(~isempty(orientation_temp)&~isnan(orientation_temp));
orientation = orientation_temp(indices);

orientation = deg2rad(orientation);
orientation = special_filter.median_filter(orientation,40);
t =0:sample_time:(length(orientation)-1)*sample_time;

%obtain latitude longitude when orientation is not NAN
long = LOCATIONLongitude(indices);
lat = LOCATIONLatitude(indices);

%convert from latitude longitude to x and y(cartesian)
[lng_x,lat_y,zone] = ll2utm(lat,long);
x_init = lng_x(1);
y_init = lat_y(1);
lng_x = lng_x - x_init;
lat_y = lat_y - y_init;

%extract speed data from GPS data
speed = LOCATIONSpeedKmh(indices)*1000/3600;
t =0:sample_time:(length(speed)-1)*sample_time;

%find pedestrian speed using the cartesian values corresponding to latitude
%and longitude
disp_x = zeros(length(speed),1);
disp_y = zeros(length(speed),1);

for(i=2:1:length(speed))
    disp_x(i) = disp_x(i-1) + speed(i-1)*sample_time*cos(orientation(i-1));
    disp_y(i) = disp_y(i-1) + speed(i-1)*sample_time*sin(orientation(i-1));
end

%obtain the predicted path for pedestrian
predict_x = zeros(length(speed),1);
predict_y = zeros(length(speed),1);

for(i=2:1:length(speed))
    predict_x(i) = disp_x(i-1) + speed(i-1)*prediction_time*cos(orientation(i-1));
    predict_y(i) = disp_y(i-1) + speed(i-1)*prediction_time*sin(orientation(i-1));
end

🎉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。

[1]史学鹏,石诚斐,解旭东,等.神经网络驱动的建筑自适应表皮产出性能预测方法[J/OL].南方建筑:1-10[2024-07-04].http://kns.cnki.net/kcms/detail/44.1263.TU.20240704.0916.006.html.

[2]董一韩,曾森,周祥.基于遗传算法优化BP神经网络的RC柱骨架曲线预测[J].中国水运(下半月),2024,24(07):34-36.

🌈4 Matlab代码实现