规划算法的仿真测试环境设计(含MATLAB程序).docxVIP

毕 业 设 计 论 文 （ 中 文 ） 摘 要 作为机器人研究领域的一个重要组成部分，规划算法在近 年来的科学实践中得到了广泛应用，规划科学发展进步巨大。 而针对规划领域中算法繁多，良莠不齐的现状，建立一个通用 的仿真测试平台，对各种规划算法进行可视化仿真，将会给用 户挑选合理的规划算法进行应用带来巨大的方便。本文采用有 较强图像化功能的 MATLAB 软件平台为基础，尝试设计实现一 款仿真模块，实现具有统一外部接口的各种路径规划算法的可 视化仿真，并通过对规划结果的计算，给出对算法的优劣性评 价，为规划结果的测试提供一个简单便捷的工具，方便用户对 各种规划算法进行比较，并挑选出合理的算法进行应用。 关键词：规划算法； 测试平台； 可视化仿真。 I 毕 业 设 计 论 文 （ 外 文 ） 摘 要 Title Development of planing algorithm simulation testing environment Abstract As an important area of robot research, the path planning algorithm obtained many applications .In the recent years, the plan science has been great development. But it is difficult to tell which is poor or good in view of the many planning domain in present. A general simulation testing platform, including the visualization simulation to test each kind of plan algorithm, will be able to give the user a tool to choose reasonable plan algorithm for application. A general simulation testing platform, including the visualization simulation to test each kind of plan algorithm, will be able to give the user a tool to choose reasonable plan algorithm for application. This paper uses MATLAB platform which has the strong image function, and hope to realize a simulation tool, which provides visualization simulation to each kind of path planning algorithms, and obtains the algorithm the performance. The paper provides a simple II convenient tool for the path planning result test. The user can use it for comparison to each kind of plan algorithm, and chooses the reasonable algorithm to carry on. Keywords:  path planning algorithm, testing platform, visualization simulation III 目  录 第 1 章  绪 论 . ................................................................................................................2 1.1 研 究 背 景 及 意 义 . ...........................................................................................2 1.1.1 路 径 规 划 的 定 义 . ............................................................