此处机器人原理与应用初学者学习记录

使用版本：MATLAB2019b

栅格地图生成

地图生成部分，此处参考博客link。由于大多栅格地图生成都是用.txt自己编辑，太麻烦了！不如用MATLAB工具箱里的现有函数自己画图生成地图。

我特意更新了MATLAB版本，但我自己的Robotic ToolBox工具箱中没有makemap()函数，可以在该网站下载工具箱，安装操作很简单。
链接: link.

点击黑色按钮即可下载，网页打开的有点慢，但工具包不大，下载下来后在MATLAB中打开该工具包就能自动安装。之后控制台输入指令rvccheck就能成功调用makemap()函数了。

比如我输入makemap(20)后会生成20*20的地图，接下来出现一系列画图操作。

我在figure窗口按p，便会提示你画多边形，照着指示点击几个点再按enter便出现如上结果。
画完图记得按q才会显示出栅格矩阵，在工作区形成的结果你可以save一下，就会形成.mat文件了。

Dijkstra实现

以下是我根据其他博客代码作了修改，以.mat形式的栅格图为基础的路径规划实现，具体原理可参考其他博客 link

load('E:作业机器人原理与应用作业A.mat'); % import the existed map cmap = [1 1 1; ...% 1 - white - clear cell          0 0 0; ...% 2 - black - obstacle                 1 0 0; ...% 3 - red = visited                 0 0 1; ...% 4 - blue - on list                 0 1 0; ...% 5 - green - start                 1 1 0;% 6 - yellow - destination                 0 1 1]; %7 colormap(cmap);  map = zeros(23,23); %本例中makemap(23)，map与后面的nrows、ncols数值都要与之对应  % Add an obstacle  map (find(A==1)) = 2; %为1的点形成障碍物 map(1, 1) = 5; % start_coords起点  map(23, 23) = 7; % dest_coords终点  axis image; %% %此处数值与你的栅格图行列对应  nrows = 23;   ncols = 23;  start_node = sub2ind(size(map), 1, 1); %起点坐标 dest_node = sub2ind(size(map), 23, 23); %终点坐标 % Initialize distance array  distanceFromStart = Inf(nrows,ncols); distanceFromStart(start_node) = 0; % For each grid cell this array holds the index of its parent  parent = zeros(nrows,ncols); % Main Loop  while true % Draw current map   map(start_node) = 5; map(dest_node) = 6; image(1.5, 1.5, map);   grid on;   axis image;   drawnow; % Find the node with the minimum distance   [min_dist, current] = min(distanceFromStart(:)); if ((current == dest_node) || isinf(min_dist)) break;    end; map(current) = 3; distanceFromStart(current) = Inf; [i, j] = ind2sub(size(distanceFromStart), current);  neighbor = [i-1,j;...              i+1,j;...              i,j+1;...              i,j-1]  outRangetest = (neighbor(:,1)<1) + (neighbor(:,1)>nrows) +... (neighbor(:,2)<1) + (neighbor(:,2)>ncols )  locate = find(outRangetest>0); neighbor(locate,:)=[]  neighborIndex = sub2ind(size(map),neighbor(:,1),neighbor(:,2)) for i=1:length(neighborIndex) if (map(neighborIndex(i))~=2) && (map(neighborIndex(i))~=3 && map(neighborIndex(i))~= 5) map(neighborIndex(i)) = 4; if distanceFromStart(neighborIndex(i))> min_dist + 1 distanceFromStart(neighborIndex(i)) = min_dist+1; parent(neighborIndex(i)) = current;    end   end  end  end %% if (isinf(distanceFromStart(dest_node)))      route = []; else %提取路线坐标    route = [dest_node]; while (parent(route(1)) ~= 0)                route = [parent(route(1)), route];         end    % 动态显示出路线              for k = 2:length(route) - 1 map(route(k)) = 7; pause(0.1); image(1.5, 1.5, map);                grid on;                axis image;                end  end 

A*实现

原理参考同上

% set up color map for display  load('E:作业机器人原理与应用作业A.mat'); % import the existed map cmap = [1 1 1; ...% 1 - white - clear cell          0 0 0; ...% 2 - black - obstacle                 1 0 0; ...% 3 - red = visited                 0 0 1; ...% 4 - blue - on list                 0 1 0; ...% 5 - green - start                 1 1 0;% 6 - yellow - destination                 0 1 1]; %7 colormap(cmap);  map = zeros(23,23); % Add an obstacle  map (find(A==1)) = 2; map(1, 1) = 5; % start_coords  map(23, 23) = 7; % dest_coords    grid on;  axis image; %%  nrows = 23;  ncols = 23;  start_node = sub2ind(size(map), 1, 1);  dest_node = sub2ind(size(map), 23, 23); % Initialize distance array  distanceFromStart = Inf(nrows,ncols); distanceFromStart(start_node) = 0; %==================== [X, Y] = meshgrid (1:ncols, 1:nrows); H = abs(Y - 4) + abs(X - 8); f = Inf(nrows,ncols); f(start_node) = H(start_node); %======================= % For each grid cell this array holds the index of its parent  parent = zeros(nrows,ncols); % Main Loop  while true % Draw current map   map(start_node) = 5; map(dest_node) = 6; image(1.5, 1.5, map);   grid on;   axis image;   drawnow; %==================== % Find the node with the minimum distance   [~, current] = min(f(:)); [min_dist, ~] = min(distanceFromStart(:)); %=================== if ((current == dest_node) || isinf(min_dist)) break;    end    map(current) = 3; %============ f(current) =Inf; %============ [i, j] = ind2sub(size(distanceFromStart), current);     neighbor = [i-1,j;...              i+1,j;...              i,j+1;...              i,j-1]  outRangetest = (neighbor(:,1)<1) + (neighbor(:,1)>nrows) +... (neighbor(:,2)<1) + (neighbor(:,2)>ncols )  locate = find(outRangetest>0); neighbor(locate,:)=[]  neighborIndex = sub2ind(size(map),neighbor(:,1),neighbor(:,2)) for i=1:length(neighborIndex) if (map(neighborIndex(i))~=2) && (map(neighborIndex(i))~=3 && map(neighborIndex(i))~= 5) map(neighborIndex(i)) = 4; if distanceFromStart(neighborIndex(i))> min_dist + 1 distanceFromStart(neighborIndex(i)) = min_dist+1; parent(neighborIndex(i)) = current; f(neighborIndex(i)) =H(neighborIndex(i));    end   end  end  end %% if (isinf(distanceFromStart(dest_node)))      route = []; else %提取路线坐标    route = [dest_node]; while (parent(route(1)) ~= 0)                route = [parent(route(1)), route];         end    % 动态显示出路线              for k = 2:length(route) - 1 map(route(k)) = 7; pause(0.1); image(1.5, 1.5, map);                grid on;                axis image;                end  end 

以上代码借鉴了一些文章，仅供学习交流