人工势场

https://blog.csdn.net/weixin_36815313/article/details/111592477
看到了一个讲的很清楚的文章
很清楚的代码：https://www.cnblogs.com/tiandsp/p/12270897.html

close all;clear

density = 0.2;
Grid_X = 0:density:10;
Grid_Y = 0:density:10;
Basic_Z = ones(length(Grid_X), length(Grid_Y));

P0 = 20;
a = 20; %斥力影响因素
b = 10; %引力影响因素


Goal = [10,10]; %目标
Obs = [ 3, 2;
        3, 3;
        5, 7;
      5.3, 6;
        6, 6;
        2, 4;
        3, 8;
        4, 7;
        8, 9]; %障碍物坐标
for k1 = 1: length(Grid_X)
    for k2 =1:length(Grid_Y)
        X_c = Grid_X(k1);
        Y_c = Grid_Y(k2);
        rre =[];
        
        rat = sqrt((Goal(1)-X_c)^2 &#