matlab机器人教学教材.pptx

计算机仿真;;;一家公司在2007年IDEX上展出的Tanmia概念无人战车。当它携带足够燃料时可以在方圆32公里的范围内进行24小时任务;;;自动寻迹，壁障机器人;功能;调用摄像头，取样;;采样系统仿真;;对离散采样系统进行分析，并求出其阶跃响应。;;;最短路径问题;;1）%求解一次转弯所经路线总长 %T：初始点 V:转弯圆弧圆心 W:到达点 function result=zongchang(T,W,V,r) TV=sqrt((T(1)-V(1))^2+(T(2)-V(2))^2); TW=sqrt((T(1)-W(1))^2+(T(2)-W(2))^2); VW=sqrt((V(1)-W(1))^2+(V(2)-W(2))^2); alpha1=acos((TV^2+VW^2-TW^2)/(2*TV*VW)); alpha2=acos(r/TV); alpha3=acos(r/VW); alpha4=2*pi-alpha1-alpha2-alpha3;%alpha4为转弯圆心角 TS1=sqrt(TV^2-r^2);%TS1,TS2均为圆弧切线% S2W=sqrt(VW^2-r^2); S1S2hu=r*alpha4; result=TS1+S1S2hu+S2W; ;2）%判定是否经过路障,采用跨立实验（计算几何算法） function m=intersect(H1,H2,G1,G2) if min(H1(1),H2(1))=max(G1(1),G2(1))min(G1(1),G2(1))=max(H1(1),H2(1))min(G1(2),G2(2))=max(H1(2),H2(2))min(H1(2),H2(2))=max(G1(2),G2(2))((G1(1)-H1(1))*(H2(2)-H1(2))-(H2(1)-H1(1))*(G1(2)-H1(2)))*((H2(1)-H1(1))*(G2(2)-H1(2))-(H2(2)-H1(2))*(G2(1)-H1(1)))=0 m=1; else if (abs((G2(2)*H2(1)-G2(2)*G1(1)-G1(2)*H2(1)+G1(1)*G1(2))/(G2(1)-G1(1))+G1(2)-H2(2)))/(sqrt(1+(G2(2)-G1(2))^2/(G2(1)-G1(1))^2))=1%保证障碍圆弧部分不与两点连线相切 m=1; else m=0; end;(3）%求解R经过中间节点到达目标点的最短路径 model: min=d1+b+d3+u+v+t; a=@sqrt(40^2+15^2); b=@sqrt((x1-40)^2+(y1-15)^2); c=@sqrt(x1^2+y1^2); d1=3*3.1415926/2-@acos((a^2+b^2-c^2)/(2*a*b))-@acos(1/a); (x1-50)^2+(y1-40)^2=1; x149; x150; d2=@acos(@abs((50-x1+(1600-40*x1-40*y1+x1*y1)/(y1-15))/(@sqrt(1+(x1-40)^2/(y1-15)^2)*@sqrt((50-x1)^2+(40-y1)^2)))); e=@sqrt(55^2+55^2);;