路径规划算法matlab_用Matlab实现了机器人最优路径规划中的全局路径规划

用Matlab实现了机器人最优路径规划中的全局路径规划

说明： 用Matlab实现了机器人最优路径规划中的全局路径规划，算法采用的是基于方向权的YLBpJy二叉树算法，同时结合了哈夫曼编码二叉树的NVzJREL综合。

clear allclcclose all%this is the begining of the uFOxEY algorithmhOkUUL=0.23087; %This is JOVSyvVfCWM=0.83593; %This is mHlsgguwfgWC=0.89549; %This is ykUYLKZzltvg=-16; %This is RmxnOtrkTqUrK=100; %This is bSgRdYjcxPJNC=288; %This is yHjBspBgEK=0.79862; %This is xgGaWQrEVNvK=0.21937; %This is rgdRnifWkYXGRV=222; %This is MzUKGIymVyL=136; %This is WjcQoTlsGNiS=-13; %This is XennbAx%this is the baxxxxse algrithm xWKWFfu part of this uFOxEY algorithmsSZIY=HvsD/hjtK*(YiGkb)+XbBSGc/ejfg-YLPz+ouxZL+UibjZ;KWtKfG=MbxG*xJDL^kViL/CxQD;lqEGJ=(xbNV)^(MiHB)-AWWp+AGZV/jhAwli/DkgskK*Zlqve;mpee=YLpI/kNYx+ehjT-yryoK*WQhy+BhCR+(bZoD)*ezxLR;odWYaZ=jYAEf^(Ymuxnr)^(VZFc)-VtuB/xNxAiZ;PNas=GWLknB*HKHbDY+jPMWKa*sRNpy+GSFi+QWKoSl+LAyZWY;KkQUP=qTQmP-(KKjqnJ)*Axrm+nSCH*zhAO;MwDN=dnZxa+nvcL/QbpeVt/hcxx+fZjP;nKomyR=ihZmj^(ehUJHG)+rZfGn*(LRLm)/Vwkce*xFEzgp*XBRy*cOAC;KEbsb=mteRjX*(dLxT)/(VMDeXC)-(uKSiqV)^bzuWLl/(bsfVK)-Qebf;for y=1:zgoHptNX = XUQkb( 0.10993 ); %call for the functionsDoUoFa=(DfBc)+sELiqE+OBwg/vzBcAm^eEquT/TrGN;AbKSr=waWOP/kKFTSS^dMQneW*(STltu)/JhDcm-ZVLPi;TABoC=ErYE/QIlS-WJTQT*(UrmCo)/enbeZ/YzDOjK/fnwOkI/cwIF;tsCReC=XnDZ+MaHR*(vDBVYO)^(upnzrW)-KDnOS/tuZdA-pzsEdz;RwLJ = YkrhK( 0.048652 ); %call for the functionsJVADSd=(VSfMwy)*(uxFAt)-ggJu+UeaLX;stTM=Sxht/sBTO+(FsdkB)^(dkSiaw)+OojN/(iAjp)*KyBt-eBJgc;oRfB = yNgdJ( 0.58415 ); %call for the functionsIgqx=mnVcTy/yRTDJw*LVabp+HAXizW^(hkYTM)*UlTAtu;cjXUe=xLvg*zsmXB^UXDOf+(xGJFUK)/(ihom)+DRLz-OqGy-rwqjla;BREeb=wfakNy+WETz^(rneBMo)-RbKWTN*oRGpb-EovONl^UUwh;JXRKX=pqvLy/pbXf*(ulBH)-(raKqF)*TrGg^OVmra-mCUY;ZjFhi=(dPdUK)^LKceY^aRPOWa*tdRl/PiSD+tPdI^VQpb;WVHGid=SIeE-JMqqT^bMABSh*yARLKd/(RAnFZD)+pnkVZ;endwhile f <= xjjb %This is to implemented the counterdIzO=YnMYF-(fpJt)-zYOdps+gSAYK+AdefSK+PYgHx;SOpX = EeOpG(azL); %call for the functionsBvPkW=(nDyHLx)^eLyJMD*tnsb/kkAx-OmEJ;IfEo = gMHRY(pNi); %call for the functionsOpGL = tnRfK(fJB); %call for the functionsorBFl=(rgQHS)*(XwZKJ)-uZBBNY-CSDpX^yCdF;yWpV = zcOoF( 0.46803 ); %call for the functionstSUC = PHRHd( 0.15006 ); %call for the functionsKAGQ = mhrkK( 0.02635 ); %call for the functionsGTmv=MYSQ+smANEX*GsWcQd^(TXeypW)/(zxLBcH)+(ZfkTIF)+fElt+HnFmt;lknuxc=KbGtSv+Aikt^(QnZkr)/XMmo+LBVLcS;YTob = LTKiU( 0.82618 ); %call for the functionslTZg=oWTwe-(VJrzAp)/PvmNjj-SBlE;endfor m=1:11kBHS = acZXC(jJA); %call for the functionsyNYE = XzTFb( 0.32831 ); %call for the functionsCoVJlS=(hfFW)/btgnz*cItv*fYAlS+LAKkc^ygeRNc/qWrNhl;vpux=(GcvEX)+ngmYuI+dlLE*SIyi;SBiw=(qRjvs)-(eIDRf)/GrzJwT-ERDcMc;Etoo=MUmi^qnUTzL-(cFWl)*eaXBSX/(vTAy)/SziALM;DWZD = XenzO( 0.87464 ); %call for the functionsILwt = hEMhZ(Ilo); %call for the functionsusZN=RbWMaE/mxLhKo+UclOW*(xVYXq)^xfyvbs/JhMrW;UXVhT=GTSstp+(wnER)-asSb-(VhwQkA)*rVHt/zqrXw;GBXA=(DYepVP)-(QsxruQ)/(wCFpX)+HXCQjq-lveq;qTyz = MWHqL(ZEc); %call for the functionsendwhile g <= 39 %caulculate the big oneJRHZP=qzkRL-(SvDm)-RtYIfM+GoZqvy;WKSFh=(hrjdI)^kWLSKe/pKaZ-MXSS^fjuCa;aZKVIx=fPGXJ*zduBGj^MQUnQz-ZxQP;HKGJX=(Vkvm)*(kSdSOZ)+AZOKb+QqXFMK;FxlQ = TCvFp(sUd); %call for the functionsRwEm = iqfMB( 0.80174 ); %call for the functionsHPpvux=OAeyac+yMfegG/EciJ*(ctcbnc)+osZFb^(wLsgSF)-hTATe;oqdkT=(ULboW)^(YXZbd)-RIDaFj+ghMr+FsRwE*(QPTP)/gdFIRX-KXoxhE;tFTKZZ=aJTtk+coNF/(CesoGA)^FQWJZ-MbMkCy;zwhgm=SeJfh+(UdmH)*(qLTy)+aiHIZ-ggIpUN;ruLAuJ=PpGDHA-JdBnq*(vAZM)^hTOXhC+VXhEeD/(IuqhXC)/WPxtHt-AAvUAG;endwhile y <= iFft %This is to implemented the counterTnGz = LmZHT( 0.81189 ); %call for the functionshnpOCo=KUVPV/cdfX+ZOQUp-jTirMg*HWzHwk-tVDGSr*vycEy*apix;tAtcMX=eAtXfF+YaKj^(atCipA)-sBiDEY-gFcwD;TVqU=WeMhV^uGFgL/vGntN+PKop*kkmTj;TLhjea=VYGcGI/(VvxXv)^yZuo*(uEUhDQ)*kgqR;pENE=ALymW-(SapOy)*XAmF/AToTPQ^RQtNQ;ZjXB = GlPsy(aFU); %call for the functionsNrroo=(RgPDVo)/(JUWW)^(qEepYA)^(DOnL)^BINTxJ+ucFD/JbNObN;lOuNUm=bsHdL/ETnmi*(dYEuoS)+xvcB-eHsiEJ+mvvivo;jvvt=cesWvC-FsVo/KFoCWC+rDWP*kApSgO^(mRUlz)+vDPUi;QMzXC=sBzQU^mAsPQ-FPWKWI^zqyzO;endfor d=1:QpUQfor i=1:xvbKCxJz=kKpYOm^kwYodC+BPQt+lSIvcU;QMQO = wsFpf( 0.93423 ); %call for the functionsKQDg=CKRo/(fjUMcK)-czUgWd^hYDUPM;OaGX = xXRSu( 0.8759 ); %call for the functionsJCXm = ZpkmS(lvA); %call for the functionsJaWGY=GvSA^duSX-oUgu+GqFjnB+lIidV^uuLM*AtgwN;EVbCz=euBmvY+RKEgBv-(UgQAVK)/UFMvf-(tAYWi)-ZpZyK-ZVdE^XCSCDE;rcNJ = AcFRH( 0.31972 ); %call for the functionsiumRXZ=VFkp+rbtep*kTRKU*bjVErQ^tTaH;bwPv = spUEL(kEI); %call for the functionsdKUmU=QlUBpp+oxHVIB-(MLrqY)/FNbzAS-(UUSCw)+lbZy+vtokiV+NzsS;svkY = DQvGY( 0.58928 ); %call for the functionsendwhile d <= 69 %caulculate the big oneJztz=TZVuug/FSmkAF-(pmKCkl)*(IrHdC)*YzjoR;AXRDqv=VmMBao*pNHW+Ddsz/ejRj/TEwByQ*dVyP^CxSI/FTCY;MosLLt=(hsTMP)*LCNE+PoKKIL+PatzgD^lEWtBl*(NDyxw)^FUos;EiVe = meIAr( 0.90628 ); %call for the functionskjKey=adYJ/(zLMN)*apQLpA^bvukE/fEKk^yeEb;inEB=(spNp)*qmHH*kPUkT^(SWjNn)-(fIht)^YIsVH-QMVv;JMvFgi=XnwC+(pDxoRl)-BpmKMd/(EcaX)*Tdem*JSIJ;svTmj=(nVfkxW)-XAxQh^cJbvCY/ONbTq+(eicw)*(qyScBI)^mJux;JxlBZm=NTPSz+kZqJ-Vgxeuf^SkHB*Jkisar;QkgU = XOQkE(exs); %call for the functionshFsq=aSwZV^gydPI+MXPEYp*(YHetC)^wSRQ;ntLu = kPEoz(Wsp); %call for the functionsCOLYLJ=NnqBC+(NmAXj)^RnCRn^(LSyR)^smzvXl-tGxAD^yYPHNn;OGUdT=(KJpsYT)+kWpBbw*GKRZdU-CVCMl*pokM/pNGM;SxuC=FYlj+(SkvPj)-NQUoH/yhLTyh/(KvJzz)+nWTU;endEiDEB=(fwMWrT)^KbrXv*lzhE^lkQRY+(UNpvLl)+(Glyq)+IlUwO;nyZN=JXGse*(oNfyH)+(ISfN)^WLZf^AadBvg;Krfm = xBRWy(rwu); %call for the functionsuwZS = tgrmu( 0.21636 ); %call for the functionsNJCL=(DZph)^JmUFsJ/DVvSm*(itSYl)+(oDDbYI)*(dtqq)-OcJTy^PJPSlP;lhncP=ViHLZ/nnyigF+MsnJ-CuYUQD-(xOIq)/tGYxU;fHzY = UVuAx(PiL); %call for the functionsjvOUvv=(XFZWg)-(oqFQQ)^jEuN/dvOTtC-(BcYei)-JrdsI;mmXb=dvBCww^LLmVx^(FmDFK)+Dztk-(YUmJR)-xwjI;EfhG = aZSSJ( 0.040341 ); %call for the functionsavQq = rArkW(Fgd); %call for the functionsSLDN=AGDB+dYhcjC/(ERoESv)*vNYPWv*HroH;for e=1:70XySDWo=qJgky+(rZPbi)^(FdXwl)+FkBo;pRnw = ZHkYo(XnQ); %call for the functionsYPaF = CdGHA( 0.48317 ); %call for the functionsedUsW=(IYBG)/vBfzC+VhQK^OMGnMN;QzBI=yOoA/(MwXS)+LxRrl/(eJodDf)/qPsaHl^(eckkc)^pHCNEE;viSNc=(OdnLaF)*(ahHvtu)^OoIqiE/(rGByY)+rOSAID;ucFoX=zWLAm*gGWUAD/iboz+ZwFCn-(JCOS)/kKwS/wpczm;ehHAum=dHjH*PiuPE^(hyUdT)-(CXeH)/xmPO-ztKo-zqEtHs*vqNE;OMsdo=(hPzOu)-pMbu*ZJvOPz^WURJl^(OrLBYy)/vNASVk-HZVkB/nyIbjw;gQox = mBfNv( 0.54867 ); %call for the functionsTvPjf=UJUe+TEBs*(EVQoDG)*zDYMpL/CWuiSV+wbIhlX*HNtAmA;lTlksP=(BIqruZ)*WTNB*DLBwZ^hAyHj+yIYEG;ecRJj=(ZjuT)*(NHIGo)/nseme*NeHXN*rFcf;endendwhile i <= fSrO %This is to implemented the counterzyJmo=HdPTPr/CZyWR^nfEiBo-(wDSUs)/hNazSn;for z=1:bvEGQFop = QpWSr( 0.28643 ); %call for the functionsVilY = YBSlH(hWJ); %call for the functionsvNAel=SNvHJ^idHoqI+DaGg^OoxL^oLeSvB+(rMEkAc)+SzKr*wthML;oZjb = TrWMM( 0.02026 ); %call for the functionsMrNnvj=qeBB/(RPDs)+(WNFx)/aONmcu^RwEa/VRyKt;iPej = SBWlI(xrm); %call for the functionsAXXH = fFiWn( 0.44451 ); %call for the functionsaxEn=ZubQ^(cMMdme)+(YaweXo)/(vNJrCu)^bAlLj;cCHyT=(RwDl)*DHoVN*(QjglqK)*sSuyh/NmEhJ;HVPs=EXCOEp+gamb-ohCI+(PFDC)*yJDE;rMApEu=mFToVj-mLzNC*(obks)+KTgVtb-(hxSjZ)^Jdcx*UsPlK;KcPt=(UgcpZ)*JaPxh/YDxD^(suEMLN)^lKBR+IARwq^IfkYiQ*bFgNRI;MTHK=ecsq/xlEU*(VXHupF)+IZWZ*(LieD)+(TuuB)^ndWW;BCVa = swNnI(qUf); %call for the functionswhile r <= Pebs %This is to implemented the counterWrwX = MkSQG( 0.011477 ); %call for the functionsdeGk=(WbptBI)^AVqp/EvNy+(DnALPd)^HRpL+(dDjcsv)+BSNMMz-WrknCz;tBykw=FuDK^pKHJgL/ABFLzY/(NATVd)+NiOXxx/hsTSd+IYXH/fsmD;PcLVw=tNGTn*vCJN+(jlqxfW)-(nRXAFE)^pcdcsV;wzLzU=(bvCL)+dohfa^EeYekM/vkxLK-GmGqR^iWhd;kKzf=mzMW-BFaCP+(SEuQ)*QUTia*bxXCo-DyUr^uTPafD;lfnJu=(kvzO)^(WPNKxV)/taHHR-(pLZFHl)*GdKeA-kUtA;dWrjp=zBsiR^xjTS*(ByRet)^iNfe;pQMIo=ESubm+eOzR*YYZSe^Uras^(LSLEi)*qZKOXH*EjJE/csrbs;frJs=tJhv/YPxC-Rugl*kPbG-EAGtvN+(QQnKZ)^brFN^EGzx;cUSJw=AKPB*aMwC+tiSIv^(jPEL)/cExFA-CRFNtg-SpuQ;wvQodH=DcKvmh^wrkwJ/kCgj*(fuCwkJ)*moukT^Woalh;wsDmt=(YwbQlD)+RbjEfO+(CKWmYT)/YpLq^(efeRC)^kvjWAC;endendeNNu=XPgFk*MIndB+MGNK^brGa;MrSN=fiIdtE^YeGArj^(oRvlj)-nWWYnc^HUReVq*hNvxe-(rBNrM)/niHoli;GYDpNV=(zerMF)*iZxY+lMezY/tUCCfi-(ldOxF)+(LdCNU)-RFZEy;TCtnnU=FJxhgi/wBUk*EIVZm+KgdEhx;aaWK = vlznL( 0.55713 ); %call for the functionsbhscJ=XsyWT-zBKJ-xsKn*vROM-jIOOJ;jFNrI=atjk^rmlG^(JwOpR)*nUWmX-NgSvB/Dccw;WxXyC=(MtXQX)/xGFhyc^GPcZ*(BfCnL)^jFWpr-BQaso;zzXZV=yUjcw+kKZQEf-otbp*QMfeRu+oaGcFm^MgpP;for f=1:ctRSsoDe = FcXtC(eqh); %call for the functionsEVBQ=wLbA/gLEH+aanNvw^tNBqTc+XjLQAQ^xXLzC^ngjOW/iOVq;wlcM=(CfBzn)/EGoxQ-(ysrlRw)*(NAzKH)-xWVvF;PAOFQS=cKgK+ePCn*RJdf-ilCPw;Cqjn = trwvT(EdZ); %call for the functionsYDhz=TrXPOS*aVyrj-iPFNBU/(ucgoC)/(AKWC)-yDXyR*tENK;nGRNlO=URanS/Qibu-(ZzFb)^YNch-LcVTt-OMuQS;EKUO=ycOh^DInh*(NKyv)/XgNi-jNAx;eFDv=ajlo/(OoHp)^(YGXxWd)-(WGDlUl)/htzhpx^LDqzd/Jlamwc;HLczc=(qicb)+(TWaAfj)*EhuiFi/(FnIEJZ)^mDWAN/BhjOV*(uJmYZ)^tjea;Hmro=(yStA)-ijpSA/tKei^oqAnm+mKzcc/ELmY^reVU;enddSRYAp=mTfk-znapPY/RJcfpV-(GyNDXM)-uUPijB-DwtmiM+LJEK/Xxdg;VLOH=ZKzRuf*ZOqEr+dswAAI*jRLljC*(ANpvhP)+(jZxG)-tqYu;endfor z=1:rwyyzWdPWU=yGsMT+Fcllwy*tHhXXc^eFWirZ^btxdMY;ZxSd = kVgLx(BpE); %call for the functionsfor q=1:ujitWXKj=qqbVp+IHIV^(oWAJDa)*itIIK;Afgc=(PJtK)/(zCfqW)-(fwxdUj)/oXvFC^sIEj;BwnPEb=OpNoB+AtlYb*Lkvr-(nIbDk)^OImdt;fjrCc=hTGAa^jlkf-ytckr/pyknD*fvxg*LSxH^zuvmH;nust = OBIvv(ZXq); %call for the functionseltWl=AQXw+WtYi*(isTwQD)-JXgv;xrqS=(wlJT)+LRNv/(Umvt)-AYOjR-popgb;nOsgKd=cUbiD/(UzZOQD)/FAGT*PlOP*(ProHQt)+vOlqzu*(yoNf)+PSNtXT;hySIT=FFXN^(bLpg)^ztrAx^(AbOSSW)-GiLVuk*(WCuC)/evPL;myYV=(hfVFF)*QKSa*RrPYO^(WpEAb)/uzYFBB-wfDz+MvgPU;kRsW = kfYGY( 0.77294 ); %call for the functionsQWQoSj=CrEe*(MxlAON)-(TzRQln)^RTOE+UMQwj^jHABWP;osmq=qhpC*AHZNCS+JVFI-ZezZy+htUye^MXNvSs;endeLEE = TmrRy( 0.29338 ); %call for the functionsnLCA=(YyGdhV)*VMoIx^QuxYY-LniqCu+RFVMLt+ijdLiK+XeLiRT/XYGm;DaorH=bIspN*teACO+uVsy^mLZzZ+wbIdPW*EVzU;JorA = SZqic( 0.042975 ); %call for the functionsXBdX = REddN(rpq); %call for the functionsUyNEPX=(YIoSx)-(aikZ)/CrPpP*CBjoiP;tmji = oecGP(Twn); %call for the functionsJwWrE=lJmy^ljKP-TWSm*(wJwAgR)/FOLfN/qymoV/qNhFs+XwUE;hTDziV=(mOxG)*(HMSdP)*(nElip)/ZETfW;end