matlab栅格法路径规划程序仿真,大家帮帮我，谁有机器人路径规划栅格法的matlab程序...

该楼层疑似违规已被系统折叠 隐藏此楼查看此楼

matlab程序

G=[0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0

0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

0 1 1 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0

0 0 0 0 0 0 1 1 0 0 0 0 1 0 0 1 0 0 0 0

0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0

0 1 1 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0

0 1 1 1 0 0 1 1 1 0 0 0 0 0 0 1 0 0 0 0

0 1 1 1 0 0 0 1 1 1 0 0 0 1 0 1 0 0 0 0

0 1 1 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0

0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0

0 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 0

0 0 0 0 1 1 0 0 1 1 1 0 0 0 0 0 0 0 0 0

0 0 0 0 1 1 0 0 0 0 0 0 1 1 0 0 1 1 1 0

0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 1 1 0

0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0

0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0

0 0 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 1 1 0

0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 1 1 0

0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0];

MM=size(G,1); % G 地形图为01矩阵，如果为1，表示障碍物

axis([0,MM,0,MM])

for i=1:MM

for j=1:MM

if G(i,j)==1

x1=j-1;y1=MM-i;

x2=j;y2=MM-i;

x3=j;y3=MM-i+1;

x4=j-1;y4=MM-i+1;

fill([x1,x2,x3,x4],[y1,y2,y3,y4],[0.2,0.2,0.2]); hold on

else

x1=j-1;y1=MM-i;

x2=j;y2=MM-i; x3=j;

y3=MM-i+1;

x4=j-1;y4=MM-i+1;

fill([x1,x2,x3,x4],[y1,y2,y3,y4],[1,1,1]); hold on

end

end

end